A dual-arm independent collaborative forging robot for lightweight stamped parts

Abstract

This application relates to the field of automated stamping equipment and discloses a dual-arm independent collaborative forging manipulator for lightweight stamped parts. The manipulator includes a housing with two identical, symmetrically arranged robotic arms on top of the housing. A central controller is fixedly connected to the inner side of the housing and electrically connected to a fifth motor. This controller controls the two robotic arms to operate collaboratively and independently, performing actions such as clamping the stamped part and feeding it to the stamping die, and clamping the stamped product and feeding it to the product conveyor line. The two robotic arms communicate with each other through the central controller. The ends of the robotic arms are equipped with quickly detachable and replaceable robotic claws. By adopting a symmetrical dual-arm layout and centralized drive by the central controller, continuous actions of one arm feeding and the other unloading are achieved. Different specifications of robotic claws can be quickly replaced in the mounting holes at the fixed ends of the claws to adapt to the clamping requirements of stamped parts of different sizes.

Description

Technical Field

[0001] This application belongs to the field of automated stamping equipment technology, specifically a dual-arm independent collaborative forging robot for lightweight stamped parts. Background Technology

[0002] In the field of automated production of lightweight stamped parts, traditional single-arm robotic arms are currently the mainstream automated handling equipment. However, single-arm robotic arms need to complete the cyclical actions of loading, stamping, and unloading in sequence during operation, which results in long action paths, long waiting times, and low production efficiency, making it difficult to meet the cycle time requirements of high-speed stamping production lines. In addition, although some dual-arm robotic arms have emerged, they generally suffer from complex collaborative control logic, poor synchronization of the two arms' movements, and susceptibility to interference and collisions. Furthermore, their complex structures and inconvenient maintenance prevent them from achieving truly independent collaborative operation.

[0003] However, the gripping end of most common robotic arms is a fixed integrated structure. For stamped parts of different sizes and shapes, the entire robotic arm needs to be replaced, resulting in poor versatility, low production efficiency, and poor synchronization of the two arms in some dual-arm robotic arms, which can easily lead to interference and collision between the two arms. Summary of the Invention

[0004] The purpose of this application is to provide a dual-arm independent collaborative forging robot for lightweight stamping parts in order to solve the problems mentioned above.

[0005] The technical solution adopted in this application is as follows: a dual-arm independent collaborative forging manipulator for lightweight stamping parts, including a housing, wherein two identical manipulator mechanisms are arranged on the top of the housing and are symmetrical about the housing axis;

[0006] Two fifth motors are fixedly connected to the top of the inner side of the box. The output shafts of the two fifth motors pass through the top of the box and extend to the top of the box, where a robotic arm mechanism is fixedly connected.

[0007] The inner side of the housing is fixedly connected to a main controller, which is electrically connected to a fifth motor. The main controller is used to control the two robotic arm mechanisms to operate collaboratively and independently, to complete the actions of clamping the stamping parts and sending them to the stamping die, and clamping the stamped products and sending them to the product conveyor line. The two robotic arm mechanisms can communicate with each other through the main controller.

[0008] The end of the robotic arm mechanism is equipped with a mechanical gripper that can be quickly disassembled and replaced.

[0009] By adopting the above technical solution, in the operation of the equipment, by using a symmetrical layout of dual robotic arms, the fifth, second, and fourth motors are centrally driven by the main controller to control the rotation, extension, and opening and closing of the robotic arms and the robotic claws. By controlling the third motor, the end of the robotic arm can be rotated, thereby driving the stamped parts held in the robotic claws to complete the rotation action. Furthermore, by independently driving the fifth motor, continuous action of loading and unloading with one arm can be achieved, thereby improving production efficiency.

[0010] By inserting the compatible robotic gripper into the mounting hole at the front of the fixed end of the robotic gripper, and then rotating the locking nut, the top of the locking nut will hold the robotic gripper in place inside the fixed end of the robotic gripper, thus achieving fixation. Different specifications of robotic grippers can be quickly replaced without special tools, which can adapt to the clamping needs of light stamping parts of different sizes without replacing the entire machine, reducing equipment modification costs and improving the adaptability of the equipment.

[0011] In a preferred embodiment, the robotic arm mechanism includes a rotating base, a first motor is fixedly connected to the top side of the rotating base, a first lead screw is fixedly connected to the output end of the first motor, and the robotic arm head end is threadedly connected to the outer side of the first lead screw.

[0012] By adopting the above technical solution, the first motor is driven to rotate the first lead screw, thereby causing the head of the robotic arm to move up and down, which in turn allows the clamped stamping part to move vertically.

[0013] In a preferred embodiment, a sliding rod is fixedly connected to the side of the rotating base, and the robotic arm tip is slidably connected to the outside of the sliding rod.

[0014] By adopting the above technical solution and setting the sliding rod, the vertical movement of the robotic arm's tip can be made more stable.

[0015] In a preferred embodiment, a retraction cavity is provided at the front of the robotic arm's head end. A second motor is fixedly connected to the inner side of the retraction cavity, and a second lead screw is fixedly connected to the output end of the second motor. The middle end of the robotic arm is threadedly connected to the front of the second lead screw, and the middle end of the robotic arm is slidably installed in the retraction cavity.

[0016] By adopting the above technical solution, the second motor drives the second lead screw to rotate, which allows the middle end of the robotic arm to slide out of the sliding cavity opened in the front end of the robotic arm, thereby extending the mechanical wall mechanism and expanding the working range of the robotic arm.

[0017] In a preferred embodiment, a third motor is fixedly connected to the front end of the middle section of the robotic arm, the output shaft of the third motor is fixedly connected to a rotating shaft, and the end of the robotic arm is fixedly connected to the front of the rotating shaft.

[0018] By adopting the above technical solution, the rotating shaft is driven by a third motor, and the clamped stamping part can be rotated through the rotating shaft and the end of the robotic arm.

[0019] In a preferred embodiment, a fourth motor is fixedly connected to the side of the end of the robotic arm, and a bidirectional lead screw is fixedly connected to the output end of the fourth motor. The bidirectional lead screw passes through the end of the robotic arm and extends to the inner side of the end of the robotic arm where a mechanical claw fixing end is threadedly connected.

[0020] By adopting the above technical solution, the bidirectional lead screw is driven by the fourth motor, and the bidirectional lead screw is threadedly connected to the fixed end of the mechanical claw, which can drive the fixed end of the mechanical claw to move towards each other, thereby enabling the mechanical claw to clamp the stamped part.

[0021] In a preferred embodiment, a mounting hole is provided at the front of the fixed end of the mechanical claw, the mechanical claw is slidably connected to the inner side of the mounting hole, and a locking nut is threadedly connected to the side of the fixed end of the mechanical claw. The inner side of the locking nut passes through the fixed end of the mechanical claw and extends into the mounting hole to abut against the mechanical claw.

[0022] By adopting the above technical solution, the top of the locking nut is rotated to hold the mechanical claw in place at the fixed end of the mechanical claw, thus achieving fixation. Different specifications of mechanical claws can be quickly replaced without special tools, which can adapt to the clamping needs of light stamping parts of different sizes without replacing the whole machine, reducing equipment modification costs and improving the adaptability of the equipment.

[0023] In a preferred embodiment, a gasket is fixedly connected to the inner side of the mechanical claw.

[0024] By adopting the above technical solution, a pad is fixed on the inside of the mechanical claw to maintain flexible contact with the stamped part and to prevent the stamped part from falling off.

[0025] In a preferred embodiment, the bottom of the housing is provided with support feet around its perimeter.

[0026] By adopting the above technical solution, the equipment can be kept level by using the four support feet at the bottom corners of the box, adapting to different ground conditions and ensuring stable operation.

[0027] In a preferred embodiment, a door is installed on the back side of the enclosure, and an operation control panel is fixedly connected to the outside of the door. The operation control panel is electrically connected to a main controller.

[0028] By adopting the above technical solution, the operation control panel on the outside of the cabinet door allows staff to easily adjust the equipment parameters, making the equipment compatible with the production line and stamping machine.

[0029] In a preferred embodiment, the main controller is electrically connected to a fifth motor, a first motor, a second motor, a third motor, and a fourth motor.

[0030] By adopting the above technical solution, the fifth, second, and fourth motors are centrally driven by the main controller to control the rotation, extension, and opening and closing of the robotic arm and the mechanical claw, thereby achieving continuous action of feeding with one arm and unloading with the other, and improving production efficiency.

[0031] In summary, due to the adoption of the above technical solution, the beneficial effects of this application are:

[0032] In the operation of the equipment, by adopting a symmetrical layout of dual robotic arms, the fifth, second, and fourth motors are centrally driven by the main controller to control the rotation, extension, and opening and closing of the robotic arms and the robotic claws. By controlling the third motor, the end of the robotic arm can be rotated, thereby driving the stamped parts held in the robotic claws to complete the rotation action. Furthermore, through the independent drive of the fifth motor, continuous action of loading and unloading with one arm can be achieved, thereby improving production efficiency.

[0033] By inserting the compatible robotic gripper into the mounting hole at the front of the fixed end of the robotic gripper, and then rotating the locking nut, the top of the locking nut will hold the robotic gripper in place inside the fixed end of the robotic gripper, thus achieving fixation. Different specifications of robotic grippers can be quickly replaced without special tools, which can adapt to the clamping needs of light stamping parts of different sizes without replacing the entire machine, reducing equipment modification costs and improving the adaptability of the equipment. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall installation structure of the device in this application;

[0035] Figure 2 This is a schematic diagram of the internal structure of the device housing in this application;

[0036] Figure 3 This is a schematic diagram of the robotic arm mechanism of the device in this application;

[0037] Figure 4 This is a schematic diagram of the connection structure between the head end and the middle end of the robotic arm in the device of this application;

[0038] Figure 5 This is a schematic diagram of the mechanical claw mounting structure of the device in this application.

[0039] The markings in the diagram are: 1. Housing; 2. Rotary base; 3. First motor; 4. First lead screw; 5. Sliding rod; 6. Robotic arm head; 7. Second motor; 8. Second lead screw; 9. Robotic arm middle; 10. Third motor; 11. Rotation shaft; 12. Robotic arm end; 13. Fourth motor; 14. Bidirectional lead screw; 15. Fixed end of robotic gripper; 16. Robotic gripper; 17. Washer; 18. Locking nut; 19. Fifth motor; 20. Main controller; 21. Support leg; 22. Housing door; 23. Operation control panel. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Example:

[0042] Reference Figure 1-5 A dual-arm independent collaborative forging robot for lightweight stamping parts includes a housing 1, with two identical robotic arm mechanisms arranged on the top of the housing 1 and symmetrical about the housing 1 axis.

[0043] Two fifth motors 19 are fixedly connected to the top inner side of the housing 1. The output shafts of the two fifth motors 19 pass through the top of the housing 1 and extend to the top of the housing 1, where mechanical arm mechanisms are fixedly connected respectively.

[0044] The inner side of the housing 1 is fixedly connected to a main controller 20, which is electrically connected to a fifth motor 19. The main controller 20 is used to control the two robotic arm mechanisms to operate collaboratively and independently, and to complete the actions of clamping the stamping parts and sending them to the stamping die and clamping the stamped products and sending them to the product conveyor line. The two robotic arm mechanisms can communicate with each other through the main controller 20.

[0045] The end of the robotic arm mechanism is equipped with a quick-detachable and replaceable robotic gripper 16.

[0046] In the operation of the equipment, by adopting a symmetrical layout of dual robotic arms, the fifth motor 19, the second motor 7, and the fourth motor 13 are centrally driven by the main controller 20 to control the rotation, extension and retraction of the robotic arms and the opening and closing of the robotic claw 16. By controlling the third motor 10, the end effector 12 of the robotic arm can be rotated, thereby driving the stamped parts held in the robotic claw 16 to complete the rotation action. Furthermore, through the independent drive of the fifth motor 19, continuous action of loading and unloading with one arm can be achieved, thereby improving production efficiency.

[0047] By inserting the compatible mechanical claw 16 into the mounting hole at the front of the mechanical claw fixing end 15, and rotating the locking nut 18, the top of the locking nut 18 abuts against the mechanical claw 16 inside the mechanical claw fixing end 15, thus achieving fixation. Different specifications of mechanical claws 16 can be quickly replaced without special tools, which can adapt to the clamping needs of light stamping parts of different sizes without replacing the whole machine, reducing equipment modification costs and improving the adaptability of the equipment.

[0048] The robotic arm mechanism includes a rotating base 2, a first motor 3 fixedly connected to the top side of the rotating base 2, a first lead screw 4 fixedly connected to the output end of the first motor 3, and a robotic arm head end 6 threadedly connected to the outer side of the first lead screw 4. By driving the first motor 3, the first lead screw 4 is rotated, thereby causing the robotic arm head end 6 to move up and down, thus enabling the clamped stamping part to move vertically.

[0049] A sliding rod 5 is fixedly connected to the side of the rotating base 2, and the robotic arm tip 6 is slidably connected to the outside of the sliding rod 5. By adopting the above technical solution, the setting of the sliding rod 5 can make the vertical movement of the robotic arm tip 6 more stable.

[0050] A retractable cavity is provided at the front of the robotic arm's head end 6. A second motor 7 is fixedly connected to the inside of the retractable cavity. A second lead screw 8 is fixedly connected to the output end of the second motor 7. The robotic arm's middle end 9 is threadedly connected to the front of the second lead screw 8 and is slidably installed in the retractable cavity. By driving the second lead screw 8 to rotate, the robotic arm's middle end 9 can slide out of the sliding cavity in the robotic arm's head end 6, thereby extending the robotic arm's working range.

[0051] A third motor 10 is fixedly connected to the front end of the middle section 9 of the robotic arm. The output shaft of the third motor 10 is fixedly connected to a rotating shaft 11, and the end of the robotic arm 12 is fixedly connected to the front of the rotating shaft 11. The rotating shaft 11 is driven by the third motor 10, and the clamped stamping part can be rotated through the rotating shaft 11 and the end of the robotic arm 12.

[0052] A fourth motor 13 is fixedly connected to the side of the end effector 12 of the robotic arm. A bidirectional lead screw 14 is fixedly connected to the output end of the fourth motor 13. The bidirectional lead screw 14 passes through the end effector 12 of the robotic arm and extends to the inner side of the end effector 12, where a mechanical gripper fixing end 15 is threadedly connected. By driving the bidirectional lead screw 14 through the fourth motor 13, and through the threaded connection between the bidirectional lead screw 14 and the mechanical gripper fixing end 15, the mechanical gripper fixing end 15 can be driven to move towards each other, thereby driving the mechanical gripper 16 to clamp the stamped part.

[0053] A mounting hole is provided at the front of the fixed end 15 of the mechanical gripper. A mechanical gripper 16 is slidably connected to the inner side of the mounting hole. A locking nut 18 is threadedly connected to the side of the fixed end 15 of the mechanical gripper. The inner side of the locking nut 18 passes through the fixed end 15 of the mechanical gripper and extends into the mounting hole to abut against the mechanical gripper 16. By rotating the locking nut 18, the top of the locking nut 18 abuts against the mechanical gripper 16 inside the fixed end 15 of the mechanical gripper, thereby fixing it. Different specifications of mechanical grippers 16 can be quickly replaced without special tools, which can adapt to the clamping needs of light stamping parts of different sizes. There is no need to replace the entire machine, reducing equipment modification costs and improving the adaptability of the equipment.

[0054] A gasket 17 is fixedly connected to the inner side of the mechanical gripper 16. By fixing the gasket 17 to the inner side of the mechanical gripper 16, flexible contact with the stamped part can be maintained, and the stamped part can be prevented from falling off.

[0055] Support feet 21 are provided around the bottom of the housing 1. By installing support feet 21 at the four corners of the bottom of the housing 1, the equipment can be kept level, adapt to different ground conditions, and ensure stable operation of the equipment.

[0056] A cabinet door 22 is installed on the back side of the housing 1. An operation control panel 23 is fixedly connected to the outside of the cabinet door 22, and the operation control panel 23 is electrically connected to the main controller 20. The operation control panel 23 on the outside of the cabinet door 22 allows the operator to easily adjust the equipment parameters, making the equipment compatible with the production line and the stamping machine.

[0057] The main controller 20 is electrically connected to the fifth motor 19, the first motor 3, the second motor 7, the third motor 10, and the fourth motor 13. The main controller 20 centrally drives the fifth motor 19, the second motor 7, and the fourth motor 13 to control the rotation, extension, and retraction of the robotic arm and the opening and closing of the robotic gripper 16, enabling continuous loading and unloading of materials by one arm and improving production efficiency.

[0058] The implementation principle of the dual-arm independent collaborative forging robot for lightweight stamping parts in this application is as follows: First, the equipment is placed in a suitable position, and the equipment is kept horizontal by rotating the support foot 21. The equipment parameters are input into the main controller 20 through the operation control screen 23.

[0059] The mechanical claw 16, which is adapted to the stamping part, is slidably inserted into the mounting hole of the mechanical claw fixed end 15 and is secured by the locking nut 18, so as to achieve quick disassembly and replacement.

[0060] The two fifth motors 19 at the top are controlled by the main controller 20 to drive the symmetrically arranged robotic arm mechanisms on both sides to rotate independently and achieve collaborative communication, respectively completing the feeding and unloading of stamping parts. In the robotic arm mechanism, the rotating seat 2 is driven by the fifth motor 19 to achieve overall rotation. The first motor 3 drives the first lead screw 4 to drive the robotic arm head 6 to extend and retract along the sliding rod 5. The second motor 7 drives the second lead screw 8 to drive the robotic arm middle end 9 to extend and retract twice in the shrinkage cavity. The third motor 10 drives the robotic arm end 12 to adjust the clamping angle through the rotating shaft 11. The fourth motor 13 drives the bidirectional lead screw 14 to make the robotic claw fixed end 15 and the robotic claw 16 open and close synchronously.

[0061] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A dual-arm independent collaborative forging robot for lightweight stamped parts, characterized in that: Includes a box (1), and two mechanical arm mechanisms with the same structure and symmetrical about the box (1) are provided on the top of the box (1); Two fifth motors (19) are fixedly connected to the top of the inner side of the box (1). The output shafts of the two fifth motors (19) pass through the top of the box (1) and extend to the top of the box (1) where mechanical arm mechanisms are fixedly connected. The inner side of the housing (1) is fixedly connected to a main controller (20), which is electrically connected to a fifth motor (19) to control the two robotic arm mechanisms to operate in a coordinated and independent manner, complete the actions of clamping the stamping parts and sending them to the stamping die and clamping the stamped products and sending them to the product conveyor line, and the two robotic arm mechanisms communicate with each other through the main controller (20). The end of the robotic arm mechanism is equipped with a mechanical claw (16) that can be quickly disassembled and replaced.

2. The dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: The robotic arm mechanism includes a rotating base (2), a first motor (3) is fixedly connected to the top side of the rotating base (2), a first lead screw (4) is fixedly connected to the output end of the first motor (3), and the robotic arm head end (6) is threadedly connected to the outer side of the first lead screw (4).

3. The dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: The rotating seat (2) is also fixedly connected to a sliding rod (5), and the robotic arm head (6) is slidably connected to the outside of the sliding rod (5).

4. The dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: A retraction cavity is provided in front of the head end (6) of the robotic arm. A second motor (7) is fixedly connected to the inner side of the retraction cavity. A second lead screw (8) is fixedly connected to the output end of the second motor (7). The middle end (9) of the robotic arm is threadedly connected to the front of the second lead screw (8). The middle end (9) of the robotic arm is slidably installed in the retraction cavity.

5. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: The front end of the middle end (9) of the robotic arm is fixedly connected to a third motor (10), the output shaft of the third motor (10) is fixedly connected to a rotating shaft (11), and the front end of the rotating shaft (11) is fixedly connected to the end of the robotic arm (12).

6. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 5, characterized in that: A fourth motor (13) is fixedly connected to the side of the end of the robotic arm (12). A bidirectional lead screw (14) is fixedly connected to the output end of the fourth motor (13). The bidirectional lead screw (14) passes through the end of the robotic arm (12) and extends to the inner side of the end of the robotic arm (12) where a mechanical claw fixing end (15) is threadedly connected.

7. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 6, characterized in that: The mechanical claw fixing end (15) has an installation hole in front of it. The mechanical claw (16) is slidably connected to the inner side of the installation hole. The side of the mechanical claw fixing end (15) is threaded with a locking nut (18). The inner side of the locking nut (18) passes through the mechanical claw fixing end (15) and extends into the installation hole to abut against the mechanical claw (16).

8. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 7, characterized in that: A gasket (17) is fixedly connected to the inner side of the mechanical claw (16).

9. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: The bottom of the box (1) is provided with support feet (21).

10. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: The back of the enclosure (1) is equipped with an enclosure door (22), and an operation control panel (23) is fixedly connected to the outside of the enclosure door (22). The operation control panel (23) is electrically connected to a main controller (20).

11. A dual-arm independent collaborative forging robot for lightweight stamped parts as described in claim 1, characterized in that: The main controller (20) is electrically connected to the fifth motor (19), the first motor (3), the second motor (7), the third motor (10), and the fourth motor (13).

Images