A robotic loading and unloading device for large-size powder metallurgy blanks

Abstract

The present invention discloses a robot loading and unloading device for large-size powder metallurgy blanks, which belongs to the field of robot technology. It includes a steel frame, one side end face of which is provided with a vertically arranged guide rail structure, and a transmission seat is slidably provided on the guide rail structure. A base is installed on one side of the transmission seat, and a robot arm is rotatably connected to the base; the end of the robot arm is rotatably connected to a clamping unit; the clamping unit is composed of a first clamping mechanism and a second clamping mechanism; a magnetic unit is provided below the clamping unit. The robot loading and unloading device adopted in the present invention mainly performs side wall contact clamping on the powder metallurgy blank through the clamping unit, and the magnetic unit is also provided which can contact the upper end face of the blank, thereby providing magnetic assistance and enhancing the clamping stability.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a manipulator loading and unloading device for large-sized powder metallurgy blanks. Background Art

[0002] Powder metallurgy blanks are a type of blank prepared through powder metallurgy technology, which has the characteristics of large size and special surface properties. In the production and processing of powder metallurgy blanks, loading and unloading is one of the key steps in automated production. Especially when processing large-sized powder metallurgy blanks, traditional loading and unloading methods (such as manual operation or simple mechanical clamping) are often difficult to meet the requirements of high efficiency, stability and high precision. In the existing technology, the manipulator clamping mechanism usually adopts a single clamping method. For large-sized powder metallurgy blanks, due to their large weight, they are prone to slippage or falling when subjected to vibration or external force during transportation, affecting production safety and efficiency. Some clamping mechanisms enhance clamping stability by simply strengthening the clamping force. This method easily leaves scratches or causes local indentations on the surface of the powder metallurgy blank, affecting subsequent processing and the appearance quality of the product. Summary of the Invention

[0003] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a robotic loading and unloading device for large-size powder metallurgy blanks, which includes a steel frame, one end face of which is provided with a vertically arranged guide rail structure, the guide rail structure is slidably provided with a transmission seat, one side of the transmission seat is installed with a base, and a robotic arm is rotatably connected to the base; the end of the robotic arm is rotatably connected to a clamping unit; the clamping unit is composed of a first clamping mechanism and a second clamping mechanism; a magnetic unit is provided below the clamping unit; the first clamping mechanism includes an upper chuck, a plurality of upper claws are distributed circumferentially inside the chuck, the upper claws are all slidably connected to the upper chuck, and one end of the upper claw is vertically fixed with a side clamping arm; a central shaft is vertically slidably connected inside the upper chuck, and a plurality of connecting rods corresponding to the upper claws are distributed circumferentially on the central shaft, and the other end of the connecting rod is hinged to the upper claw.

[0004] Preferably, the transmission seat is connected to a main frame through a turntable, and two vertical axes are arranged in parallel on the main frame, and two sliding frames are slidably installed on the vertical axes; horizontal axes are horizontally slidably installed on the sliding frames, and the base is fixed to the two horizontal axes.

[0005] Preferably, the first clamping mechanism and the second clamping mechanism are coaxially arranged.

[0006] Preferably, the magnetic unit includes a fixed disk, on one end face of which a magnetic disk is coaxially fixed, and a number of electromagnets are distributed on the inner circumference of the magnetic disk; a plurality of mounting plates are fixed on the other end face of the fixed disk, and two sliding rods are vertically connected to the mounting plates, and one end of the sliding rod is slidably connected to the second clamping mechanism; a limiting spring is connected between each mounting plate and the second clamping mechanism.

[0007] Preferably, the second clamping mechanism includes a lower chuck with a plurality of lower claws distributed circumferentially inside the chuck, the lower claws are all slidably connected to the lower chuck, and a fixed claw is fixed at one end of the lower claw; a plurality of fixed axis rods corresponding to the lower claws are distributed circumferentially below the connecting rod on the central axis, and the other end of the fixed axis rod is hinged to the lower claw.

[0008] Preferably, the lower clamping jaws and the upper clamping jaws are spaced apart from each other.

[0009] Preferably, a clamping plate is fixed to the lower end of the side clamping arm and the fixing claw, and a non-slip pad is installed laterally on one side of the lower end of the clamping plate.

[0010] Preferably, the lower chuck is rotatably connected to the bottom of the upper chuck, a shaft ring is provided in the center of the lower chuck, one end of the center shaft is slidably connected in the shaft ring, a side wall of the shaft ring is provided with an inclined groove, and a guide pin is fixed on the center shaft, and the guide pin slides in conjunction with the inclined groove; the outer wall of the shaft ring is provided with a convex edge, and each shaft ring is connected to the upper chuck through a compression spring.

[0011] Preferably, a plurality of sealing cavities corresponding to the convex edges are provided in the lower chuck, a guide rod is provided in the sealing cavity for sliding sealing, and one end of the guide rod is connected to the compression spring; a plurality of hydraulic channels are provided in the lower chuck, and the hydraulic channels are connected to the sealing cavities correspondingly.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] The manipulator loading and unloading device used in the present invention mainly performs side wall contact clamping on the powder metallurgy blank through the clamping unit, and the magnetic suction unit is also provided which can contact the upper end face of the blank, thereby providing magnetic suction assistance and enhancing the clamping stability; wherein the first clamping mechanism and the second clamping mechanism used by the clamping unit can respectively clamp the upper end side wall and the lower end side wall of the blank, and flexibly contact the blank through the anti-slip pad, thereby avoiding deformation of the blank due to single-point clamping or excessive local force, and reducing scratches or damage to the surface of the blank; and the first clamping mechanism and the second clamping mechanism can also provide clamping torsional force in the clamping cooperation, which can further increase the friction between the blank and the first clamping mechanism and the second clamping mechanism, thereby improving the clamping stability and ensuring the reliability during the loading and unloading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 Schematic diagram of the structure of the clamping unit in the present invention;

[0016] Figure 3 It is a structural schematic diagram of the transmission base in the present invention;

[0017] Figure 4 Schematic diagram of the structure of the magnetic unit in the present invention;

[0018] Figure 5 Schematic diagram of the structure of the first clamping mechanism and the second clamping mechanism in the present invention;

[0019] Figure 6 This is a schematic diagram of the installation structure of the shaft ring of the present invention;

[0020] In the figure: 1. Steel frame; 11. Base; 12. Robotic arm; 13. Clamping unit; 2. Transmission seat; 21. Main frame; 22. Vertical axis; 23. Sliding frame; 3. First clamping mechanism; 31. Upper chuck; 32. Upper clamping claw; 33. Side clamping arm; 34. Connecting rod; 4. Second clamping mechanism; 41. Lower chuck; 42. Lower clamping claw; 43. Fixed claw; 44. Fixed axis rod; 45. Clamping plate; 5. Magnetic unit; 51. Fixed plate; 52. Magnetic cup; 53. Mounting plate; 54. Sliding rod; 55. Limiting spring; 6. Center axis; 61. Shaft ring; 62. Compression spring; 63. Guide rod; 64. Hydraulic channel; 65. Protruding edge. DETAILED DESCRIPTION

[0021] See also Figures 1-6In an embodiment of the present invention, a robot loading and unloading device for large-sized powder metallurgy blanks includes a steel frame 1, one end surface of which is provided with a vertically arranged guide rail structure, a transmission seat 2 is slidably provided on the guide rail structure, a base 11 is installed on one side of the transmission seat 2, and a robot arm 12 is rotatably connected to the base 11. The robot arm 12 can be freely adjusted in multiple directions in space to adapt to loading and unloading operations with complex paths;

[0022] The end of the robotic arm 12 is rotatably connected to a clamping unit 13; the clamping unit 13 is composed of a first clamping mechanism 3 and a second clamping mechanism 4, which can synchronously cooperate to clamp and transport the blank during the loading and unloading process; a magnetic unit 5 is provided below the clamping unit 13.

[0023] In this embodiment, the transmission seat 2 is connected to a main frame 21 through a turntable rotation, and two vertical shafts 22 are arranged in parallel on the main frame 21, and two sliding frames 23 are slidably installed on the vertical shafts 22; the sliding frames 23 are each horizontally slidably installed with a horizontal shaft, and the base 11 is fixed to the two horizontal shafts, wherein a propulsion cylinder is arranged below the main frame 21, and the propulsion cylinder is used to control the sliding adjustment of the driving sliding frame 23, and a side cylinder is horizontally fixed on one of the sliding frames 23, and the side cylinder can push and adjust the base 11 along the horizontal direction of the sliding frame 23.

[0024] As a preferred embodiment, the first clamping mechanism 3 and the second clamping mechanism 4 are coaxially arranged, and the first clamping mechanism 3 can contact the lower end side wall of the blank during loading and unloading, while the second clamping mechanism 4 can synchronously contact the upper end side wall of the blank.

[0025] In this embodiment, the magnetic unit 5 includes a fixed disk 51, on one end face of which a magnetic suction disk 52 is coaxially fixed, and a number of electromagnets are distributed on the inner circumference of the magnetic suction disk 52 so that the magnetic force of the electromagnet can be dynamically adjusted according to the weight of the blank to adapt to the loading and unloading of blanks of different weights; a plurality of mounting plates 53 are fixed on the other end face of the fixed disk 51, and two sliding rods 54 are vertically connected to the mounting plates 53, and one end of the sliding rod 54 is slidably connected to the second clamping mechanism 4; a limiting spring 55 is connected between each mounting plate 53 and the second clamping mechanism 4, which can realize buffered contact between the magnetic suction disk 52 and the blank under the action of elastic force, thereby avoiding excessive downward pressure of the magnetic suction disk 52 and causing pressure damage to the blank.

[0026] In this embodiment, the first clamping mechanism 3 includes an upper chuck 31, on which a plurality of upper clamping claws 32 are distributed on its inner circumference, and the upper clamping claws 32 are all slidably connected to the upper chuck 31, and one end of the upper clamping claws 32 is vertically fixed with a side clamping arm 33; a central shaft 6 is vertically slidably connected to the upper chuck 31, and a plurality of connecting rods 34 corresponding to the upper clamping claws 32 are distributed on the circumference of the central shaft 6, and the other end of the connecting rod 34 is hinged to the upper clamping claw 32, so that when the central shaft 6 is slid downward for adjustment, each upper clamping claw 32 can slide out radially along the inner side of the upper chuck 31 under the push of the connecting rod 34, and at this time the side clamping arm 33 achieves a clamping opening and closing effect, so as to clamp and position the blank; and when the central shaft 6 is slid upward for adjustment, each upper clamping claw 32 is retracted radially inward along the inner side of the upper chuck 31, and the side clamping arm 33 gradually clamps the blank.

[0027] In this embodiment, the second clamping mechanism 4 includes a lower chuck 41, on the inner circumference of which a plurality of lower claws 42 are distributed, and the lower claws 42 are all slidably connected to the lower chuck 41, and a fixed claw 43 is fixed at one end of the lower claw 42; on the central shaft 6, a plurality of fixed shafts 44 corresponding to the lower claws 42 are distributed circumferentially below the connecting rod 34, and the other end of the fixed shaft 44 is hinged to the lower claws 42, so that when the central shaft 6 is slid up and down, each lower claw 42 can slide out or retract along the inner radial direction of the lower chuck 41, and slide and adjust synchronously with the upper claw 32 in the upper chuck 31.

[0028] As a preferred embodiment, the lower jaws 42 and the upper jaws 32 are spaced apart so that the clamping force is more dispersed in the circumferential and axial directions of the blank, reducing the concentrated pressure on the surface of the blank and thereby reducing the risk of surface damage.

[0029] In this embodiment, a clamping plate 45 is fixed to the lower end of the side clamping arm 33 and the fixed claw 43. A non-slip pad is installed laterally on one side of the lower end of the clamping plate 45. The non-slip pad is made of rubber material, which can achieve a flexible contact effect with the blank and has good friction performance, which can effectively prevent sliding.

[0030] The lower chuck 41 is rotatably connected to the lower part of the upper chuck 31, and a shaft ring 61 is provided in the center of the lower chuck 41. One end of the center shaft 6 is slidably connected to the shaft ring 61. The side wall of the shaft ring 61 is provided with an inclined groove, and a guide pin is fixed on the center shaft 6. The guide pin and the inclined groove are slidably matched. Therefore, when the center shaft 6 is adjusted to slide up and down, it can convert its linear motion into the rotational motion of the shaft ring 61 through the sliding match between the guide pin and the inclined groove; the outer wall of the shaft ring 61 is provided with a convex edge 65, and each of the shaft rings 61 is connected to the upper chuck 31 through the convex edge 65. A compression spring 62 is provided; specifically, when the clamping unit 13 is in the general state, the first clamping mechanism 3 and the second clamping mechanism 4 remain inwardly retracted. At this time, the compression spring 62 is in an elastically released state. When the blank is actively clamped, the center shaft 6 slides downward along its axial direction, and the upper clamping jaws 32 and the lower clamping jaws 42 on the first clamping mechanism 3 and the second clamping mechanism 4 are engaged with each other. The clamping opening and closing effect is gradually achieved, and at the same time, the guide pin on the central shaft 6 drives the shaft ring 61 to deflect slightly while sliding along the inclined groove, so that the lower chuck 41 rotates synchronously; and when the clamping unit 13 and the blank reach the center positioning, the central shaft 6 slides upward along its axial direction, and the upper clamping jaw 32 gradually contacts the lower clamping jaw 42 and the blank, and the lower chuck 41 rotates synchronously with the shaft ring 61 in the opposite direction; when the upper clamping jaw 32 and the lower clamping jaw 42 are in initial friction contact with the blank, the central shaft 6 still slides upward so that Each upper clamping jaw 32 and lower clamping jaw 42 provides an appropriate clamping force to the blank, and at this time the lower chuck 41 and the upper chuck 31 are relatively stationary, the shaft ring 61 deflects while sliding on the central axis 6, and the compression spring 62 is gradually compressed, thereby providing elastic torsional stress to the lower chuck 41, so that the second clamping mechanism 4 forms a tangential contact friction effect on the blank with the first clamping mechanism 3 during the clamping work, further improving the clamping stability, and there is no need to use excessive clamping force to clamp the blank.

[0031] In this embodiment, a plurality of sealing cavities corresponding to the convex edge 65 are provided in the lower chuck 41, and a guide plug rod 63 is provided in the sealing cavity for sliding sealing, and one end of the guide plug rod 63 is connected to the compression spring 62; a plurality of hydraulic channels 64 are provided in the lower chuck 41, and the hydraulic channels 64 are connected to the sealing cavities accordingly. The hydraulic channels 64 can transport hydraulic oil to the sealing cavities so as to hydraulically push each guide plug rod 63, thereby adjusting the initial compression shape of the compression spring 62, so as to provide torsional stress of different strengths according to the weight, size, shape, etc. of the blank in subsequent clamping, or dynamically adjust the torsional stress strength during the clamping process.

[0032] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A robot loading and unloading device for large-sized powder metallurgy blanks, characterized in that: It comprises a steel frame (1), one end face of which is provided with a vertically arranged guide rail structure, a transmission seat (2) is slidably arranged on the guide rail structure, a base (11) is installed on one side of the transmission seat (2), and a mechanical arm (12) is rotatably connected to the base (11); The end of the mechanical arm (12) is rotatably connected to a clamping unit (13); The clamping unit (13) is composed of a first clamping mechanism (3) and a second clamping mechanism (4); A magnetic attraction unit (5) is provided below the clamping unit (13); The first clamping mechanism (3) comprises an upper clamping disc (31), a plurality of upper clamping claws (32) are distributed on the inner circumference thereof, the upper clamping claws (32) are all slidably connected to the upper clamping disc (31), and a side clamping arm (33) is vertically fixed to one end of each upper clamping claw (32); A central shaft (6) is vertically slidably connected in the upper chuck (31), and a plurality of connecting rods (34) corresponding to the upper clamping claws (32) are distributed on the circumference of the central shaft (6), and the other ends of the connecting rods (34) are hinged to the upper clamping claws (32); The second clamping mechanism (4) comprises a lower clamping plate (41), a plurality of lower clamping claws (42) are distributed on the inner circumference of the lower clamping plate, the lower clamping claws (42) are all slidably connected to the lower clamping plate (41), and a fixed claw (43) is fixed to one end of the lower clamping claw (42); A plurality of fixed shaft rods (44) corresponding to the lower clamping claw (42) are distributed on the central shaft (6) below the connecting rod (34), and the other ends of the fixed shaft rods (44) are hinged to the lower clamping claw (42); The lower chuck (41) is rotatably connected to the lower side of the upper chuck (31), a shaft ring (61) is provided in the center of the lower chuck (41), one end of the central shaft (6) is slidably connected in the shaft ring (61), a side wall of the shaft ring (61) is provided with an oblique groove, and a guide pin is fixed on the central shaft (6), and the guide pin is slidably matched with the oblique groove; The outer wall of the shaft ring (61) is provided with a convex edge (65), and each shaft ring (61) is connected to the upper chuck (31) via the convex edge (65) with a compression spring (62); A plurality of sealing cavities corresponding to the convex edges (65) are provided in the lower chuck (41), a guide rod (63) is provided in the sealing cavity for sliding sealing, and one end of the guide rod (63) is connected to the compression spring (62); A plurality of hydraulic channels (64) are provided in the lower chuck (41), and the hydraulic channels (64) are connected to the sealing chambers in a corresponding manner.

2. The robot loading and unloading device for large-sized powder metallurgy blanks according to claim 1 is characterized in that: The transmission seat (2) is rotatably connected to a main frame (21) via a turntable, two vertical shafts (22) are arranged in parallel on the main frame (21), and two sliding frames (23) are slidably mounted on the vertical shafts (22); The sliding frame (23) is provided with a horizontal shaft for horizontal sliding installation, and the base (11) is fixed to the two horizontal shafts.

3. The robot loading and unloading device for large-sized powder metallurgy blanks according to claim 1 is characterized in that: The first clamping mechanism (3) and the second clamping mechanism (4) are coaxially arranged.

4. The robot loading and unloading device for large-sized powder metallurgy blanks according to claim 1 is characterized in that: The magnetic attraction unit (5) comprises a fixed disk (51), one end surface of which is coaxially fixed with a magnetic suction disk (52), and a plurality of electromagnets are distributed on the inner circumference of the magnetic suction disk (52); A plurality of mounting plates (53) are fixed to the other end surface of the fixed disk (51), and two sliding rods (54) are vertically connected to each of the mounting plates (53), one end of each sliding rod (54) is slidably connected to the second clamping mechanism (4); and a limiting spring (55) is connected between each of the mounting plates (53) and the second clamping mechanism (4).

5. The robot loading and unloading device for large-sized powder metallurgy blanks according to claim 1 is characterized in that: The lower clamping claws (42) and the upper clamping claws (32) are spaced apart.

6. The robot loading and unloading device for large-sized powder metallurgy blanks according to claim 1 is characterized in that: A clamping plate (45) is fixed to the lower ends of the side clamping arm (33) and the fixing claw (43), and a non-slip pad is installed on one side of the lower end of the clamping plate (45).

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