Manipulator for feeding and discharging metal castings

Abstract

The invention relates to the technical field of workpiece transfer, in particular to a manipulator for feeding and discharging metal castings, which is used for clamping cylindrical castings and comprises a mechanical arm, a mounting seat with an adjustable vertical distance between the top and the bottom is fixedly mounted at the output end of the mechanical arm, and top shafts are fixedly mounted at two ends of the top of the mounting seat. Two connecting rods are rotatably mounted at the end of the top shaft, a bottom shaft is rotatably mounted in the bottom of the mounting seat, two swing rods are rotatably mounted at each of two ends of the bottom shaft, one end, away from the top shaft, of each connecting rod is rotatably connected with the corresponding swing rod, a connecting shaft is rotatably mounted between the two swing rods on the same plane, and a bottom roller is fixedly mounted on each connecting shaft; a top roller is fixedly mounted on the bottom shaft, and a rotating assembly for driving the bottom shaft to rotate is further mounted in the mounting base.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece transfer, and in particular to a manipulator for loading and unloading metal castings. Background Art

[0002] In modern industrial manufacturing, machining centers have become a key link in the manufacture of precision parts, and how to effectively and safely handle the loading and unloading of heavy objects is an issue that cannot be ignored in production. Especially in the production of square metal parts, operators need to face the smooth transportation, precise placement and removal of workpieces. To this end, people have designed loading and unloading robots to solve the problem, aiming to improve production efficiency, reduce labor intensity, and ensure the safety of operation. Loading and unloading robots mainly realize the full automation of the machine tool manufacturing process, and use integrated processing technology. They are suitable for loading and unloading, workpiece flipping, and workpiece transfer on the production line; Generally, when loading and unloading workpieces, a clamping fixture is set at the end of the manipulator to clamp the surface of the workpiece and use friction to move the workpiece to different machine tools for processing. It is suitable for light workpieces that have surface contact with the fixture, such as rectangles. Once the workpiece becomes a heavier metal casting and its shape changes to a column, a line contact will be formed between the fixture and the cylindrical casting, requiring a larger clamping force to clamp it, which can easily cause damage to the surface of the cylindrical casting and make it impossible to flip the bottom of the cylindrical casting to the top when clamping.

[0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not constitute the prior art that is already known to one of ordinary skill in the art. Summary of the invention

[0004] The purpose of the present invention is to design a robot that can clamp and load heavy cylindrical castings, and can flip the top and bottom when clamping, or flip the left and right parts to the top, and cooperate with a machine tool for processing, so as to solve the above-mentioned deficiencies in the technology.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator for loading and unloading metal castings, which is used to clamp cylindrical castings, including a manipulator arm, a mounting seat with an adjustable vertical distance between the top and the bottom is fixedly installed at the output end of the manipulator arm, top shafts are fixedly installed at both ends of the top of the mounting seat, two connecting rods are rotatably installed at the ends of the top shaft, a bottom shaft is rotatably installed in the bottom of the mounting seat, two swing rods are rotatably installed at both ends of the bottom shaft, one end of the connecting rod away from the top shaft is rotatably connected to the swing rod, a connecting shaft is rotatably installed between two swing rods on the same plane, a bottom roller is fixedly installed on the connecting shaft, a top roller is fixedly installed on the bottom shaft, and a rotating component that drives the bottom shaft to rotate is also installed in the mounting seat; By reducing the vertical distance between the top and bottom of the mounting seat, the angle between the two rocker arms becomes smaller, allowing the two bottom rollers to hook up the bottom of the outer circumference of the cylindrical casting, and after clamping with the top roller, it is used for loading and unloading, and the rotating assembly is used in conjunction with the top roller to flip the cylindrical casting.

[0006] Preferably, the mounting base includes a top plate fixedly connected to the end of the output shaft of the robotic arm, a bottom plate arranged below the top plate, and a hydraulic cylinder fixedly installed on the bottom plate, the output end of the hydraulic cylinder is fixedly connected to the bottom surface of the top plate, the top shaft is fixedly connected to the side wall of the top plate, and the bottom shaft passes through the bottom plate and is rotatably connected to the bottom plate.

[0007] Preferably, the rocker arm includes a first part rotatably connected to the bottom shaft, a second part rotatably connected to the connecting shaft, and a third part fixedly connected between the first part and the second part. When the outer circumferential surfaces of the top roller and the bottom roller are simultaneously in contact with the outer circumferential surface of the cylindrical casting, the surface of the third part does not contact the outer circumferential surface of the cylindrical casting, and the connecting rod end is rotatably connected to the third part.

[0008] Preferably, the rotating assembly includes a motor fixedly mounted on the base plate, a first gear fixedly connected to the end of the motor output shaft, a second gear fixedly mounted on the bottom shaft, and a first gear belt meshing with the first gear and the second gear.

[0009] Preferably, the end of the bottom shaft is fixedly connected to a third gear, the end of the connecting shaft is fixedly connected to a fourth gear, and a second gear belt is meshed between the fourth gear and the third gear on the same side.

[0010] Preferably, when the top roller and the bottom roller are in contact with the outer peripheral surface of the cylindrical casting, the second gear belt is in contact with the outer peripheral surface of the cylindrical casting to form surface contact.

[0011] Preferably, the central axis of the top shaft and the central axis of the bottom shaft are in the same plane, and the central axis of the top shaft is located directly above the central axis of the bottom shaft.

[0012] In the above technical solution, the technical effects and advantages provided by the present invention are: The present invention reduces the distance between the top plate and the bottom plate so that the two bottom rollers gradually hook up the column and cooperate with the top roller to clamp and fix the column for loading and unloading the workpiece. Compared with the large clamping force required for the centerline contact in the prior art, the two bottom rollers support the columnar casting, and the material can be loaded and unloaded without a large clamping force, and the clamping stress damage to the surface of the columnar casting will not be caused. When the cylindrical casting is clamped and loaded and unloaded, the top roller, the bottom roller and the second transmission belt can be used to drive the cylindrical casting to rotate, so that the cylindrical casting is reversed when clamped, so that the two sides or the bottom are rotated to the top, which is convenient for the machine tool with the same processing direction to process; When the cylindrical casting is turned over by the present invention, the workpiece is turned over during the clamping process, rather than putting the workpiece down first and then turning it over. The three steps of putting down, turning over and clamping up are shortened to turning over, thereby improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a partial splitting schematic diagram of the present invention; Figure 3 It is a partial side view of the present invention; Figure 4 It is a schematic diagram of the distribution of the top roller and the bottom roller of the present invention.

[0015] Description of reference numerals: 1. Robotic arm; 2. Mounting base; 2a. Top plate; 2b. Bottom plate; 2c. Hydraulic cylinder; 3. Top shaft; 4. Connecting rod; 5. Bottom shaft; 6. Rocker arm; 6a. First part; 6b. Second part; 6c. Third part; 7. Connecting shaft; 8. Bottom roller; 9. Top roller; 10. Rotating assembly; 10a. Motor; 10b. First gear; 10c. Second gear; 10d. First gear belt; 11. Third gear; 12. Fourth gear; 13. Second gear belt. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0018] The present invention provides Figure 1-4The metal casting loading and unloading robot shown in the figure is used to clamp the cylindrical casting, including a robot arm 1, a top plate 2a is fixedly installed at the output end of the robot arm 1, a bottom plate 2b is provided at the bottom of the top plate 2a, a hydraulic cylinder 2c is fixedly installed on the bottom plate 2b, the output shaft of the hydraulic cylinder 2c is fixedly connected to the top plate 2a, the top plate 2a, the bottom plate 2b and the hydraulic cylinder 2c constitute a mounting seat 2 with an adjustable vertical distance between the top plate 2a and the bottom plate 2b, and top shafts 3 are fixedly installed at both ends of the top plate 2a, and the ends of the top shafts 3 are fixedly installed. The bottom plate 2b is provided with two connecting rods 4 for rotation, a bottom shaft 5 is passed through and rotationally installed in the bottom plate 2b, the central axis of the top shaft 3 and the central axis of the bottom shaft 5 are in the same plane, and the central axis of the top shaft 3 is located directly above the central axis of the bottom shaft 5, two swing rods 6 are rotationally installed at both ends of the bottom shaft 5, a connecting shaft 7 is rotationally installed between the two swing rods 6 on the same plane, and the swing rod 6 includes a first part 6a rotationally connected to the bottom shaft 5, a second part 6b rotationally connected to the connecting shaft 7, and a connection shaft 7 between the first part 6a and the second part 6b. The third part 6c is fixedly connected between the connecting shaft 7 and the bottom shaft 5, the bottom roller 8 is fixedly installed on the connecting shaft 7, and the top roller 9 is fixedly installed on the bottom shaft 5. When the outer circumferences of the top roller 9 and the bottom roller 8 are simultaneously in contact with the outer circumference of the cylindrical casting, the surface of the third part 6c does not contact the outer circumference of the cylindrical casting, and the end of the connecting rod 4 is rotatably connected to the third part 6c. A rotating assembly 10 that drives the bottom shaft 5 to rotate is also installed in the mounting seat 2. The rotating assembly 10 includes a motor 10a fixedly installed on the bottom plate 2b, and the end of the output shaft of the motor 10a is fixedly connected The first gear 10b, the second gear 10c fixedly installed on the bottom shaft 5, and the first gear belt 10d meshing with the first gear 10b and the second gear 10c, the end of the bottom shaft 5 is fixedly connected to the third gear 11, the end of the connecting shaft 7 is fixedly connected to the fourth gear 12, and the second gear belt 13 is meshed between the fourth gear 12 and the third gear 11 on the same side. When the top roller 9 and the bottom roller 8 are in contact with the outer peripheral surface of the cylindrical casting, the second gear belt 13 is in contact with the outer peripheral surface of the cylindrical casting to form a surface contact; In the initial state, the distance between the top plate 2a and the bottom plate 2b is large, the output shaft of the hydraulic cylinder 2c is in an extended state, the angle between the two swing rods 6 is large, and the second gear belt 13 is in a taut state on the third gear 11 and the two fourth gears 12. The robot arm 1 moves the second gear belt 13 on the robot arm to the top of the cylindrical casting through multi-axis motion, and then gradually descends until the second gear belt 13 fits the outer peripheral surface of the cylindrical casting, and then the output shaft of the hydraulic cylinder 2c is gradually shortened, and at the same time, the robot arm drives the mounting seat 2 to descend synchronously; When the output shaft of the hydraulic cylinder 2c drives the top plate 2a and the bottom plate 2b to gradually approach each other, the connecting rod 4 and will drive the swing rod 6 to swing, so that the angle between the two swing rods 6 becomes smaller. At this time, the swing rod 6 will drive the bottom rollers 8 on the connecting shaft 7 to approach each other until the bottom rollers 8 contact the surface of the cylindrical casting. At the same time, the contact area between the second gear belt 13 and the outer peripheral surface of the cylindrical casting will gradually increase. When the top roller 9 and the two bottom rollers 8 contact the outer peripheral surface of the cylindrical casting at the same time, the cylindrical casting is clamped; Then the robot arm 1 in the robot arm is driven to move the cylindrical casting from the conveyor belt to the machine tool for processing, such as drilling holes on the top, sides and bottom of the cylindrical casting by a drilling machine. At this time, the output shaft of the motor 10a rotates to drive the first gear 10b to rotate. The first gear 10b drives the second gear 10c to rotate through the first gear belt 10d. The second gear 10c drives the bottom shaft 5 to rotate. While the bottom shaft 5 drives the top roller 9 to rotate, the bottom roller 8 is driven to rotate through the cooperation between the third gear 11, the fourth gear 12 and the second gear belt 13. The top roller 9, the bottom roller 8 and the second transmission belt jointly drive the cylindrical casting to rotate, thereby realizing the rotation of the two sides or the bottom to the top, forming the purpose of flipping, which is convenient for processing.

[0019] It is important to note that the construction and arrangement of the present application shown in a number of different exemplary embodiments are exemplary only. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, colors, changes in orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application.

Claims

1. A manipulator for loading and unloading metal castings, used for gripping cylindrical castings, comprising a manipulator arm (1), characterized in that: The output end of the mechanical arm (1) is fixedly mounted with a mounting seat (2) with an adjustable vertical distance between the top and the bottom, top shafts (3) are fixedly mounted at both ends of the top of the mounting seat (2), two connecting rods (4) are rotatably mounted at the ends of the top shaft (3), a bottom shaft (5) is rotatably mounted in the bottom of the mounting seat (2), two swing rods (6) are rotatably mounted at both ends of the bottom shaft (5), one end of the connecting rod (4) away from the top shaft (3) is rotatably connected to the swing rod (6), a connecting shaft (7) is rotatably mounted between the two swing rods (6) on the same plane, a bottom roller (8) is fixedly mounted on the connecting shaft (7), a top roller (9) is fixedly mounted on the bottom shaft (5), and a rotating component (10) for driving the bottom shaft (5) to rotate is also mounted in the mounting seat (2); By reducing the vertical distance between the top and bottom of the mounting seat (2), the angle between the two swing arms (6) becomes smaller, so that the two bottom rollers (8) can hook up the bottom of the outer peripheral surface of the cylindrical casting, and after clamping with the top roller (9), it can be used for loading and unloading, and the rotating component (10) can be used with the top roller (9) to flip the cylindrical casting.

2. A metal casting loading and unloading robot according to claim 1, characterized in that: The mounting seat (2) comprises a top plate (2a) fixedly connected to the end of the output shaft of the mechanical arm (1), a bottom plate (2b) arranged below the top plate (2a), and a hydraulic cylinder (2c) fixedly mounted on the bottom plate (2b), wherein the output end of the hydraulic cylinder (2c) is fixedly connected to the bottom surface of the top plate (2a), the top shaft (3) is fixedly connected to the side wall of the top plate (2a), and the bottom shaft (5) passes through the bottom plate (2b) and is rotatably connected to the bottom plate (2b).

3. A metal casting loading and unloading robot according to claim 1, characterized in that: The rocker arm (6) comprises a first portion (6a) rotatably connected to the bottom shaft (5), a second portion (6b) rotatably connected to the connecting shaft (7), and a third portion (6c) fixedly connected between the first portion (6a) and the second portion (6b); when the outer circumferential surfaces of the top roller (9) and the bottom roller (8) are in contact with the outer circumferential surface of the cylindrical casting at the same time, the surface of the third portion (6c) does not contact the outer circumferential surface of the cylindrical casting, and the end of the connecting rod (4) is rotatably connected to the third portion (6c).

4. A metal casting loading and unloading robot according to claim 2, characterized in that: The rotating assembly (10) comprises a motor (10a) fixedly mounted on the base plate (2b), a first gear (10b) fixedly connected to the end of the output shaft of the motor (10a), a second gear (10c) fixedly mounted on the base shaft (5), and a first gear belt (10d) meshing with the first gear (10b) and the second gear (10c).

5. A metal casting loading and unloading robot according to claim 1, characterized in that: The end of the bottom shaft (5) is fixedly connected to a third gear (11), the end of the connecting shaft (7) is fixedly connected to a fourth gear (12), and a second gear belt (13) is meshed between the fourth gear (12) and the third gear (11) on the same side.

6. A metal casting loading and unloading robot according to claim 5, characterized in that: When the top roller (9) and the bottom roller (8) are in contact with the outer peripheral surface of the cylindrical casting, the second gear belt (13) is in contact with the outer peripheral surface of the cylindrical casting to form surface contact.

7. A metal casting loading and unloading robot according to claim 1, characterized in that: The central axis of the top shaft (3) and the central axis of the bottom shaft (5) are located in the same plane, and the central axis of the top shaft (3) is located directly above the central axis of the bottom shaft (5).

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