Special carrying manipulator for complex workpieces

Abstract

The utility model relates to the technical field of carrying manipulators, and discloses a special carrying manipulator for complex workpieces, which comprises a base station and two workpieces, and is characterized in that a manipulator component I is arranged on one side of the base station, and a manipulator component II is arranged on the other side of the base station; the first mechanical arm assembly is used for clamping one-die two workpieces in a material cake shape, and the second mechanical arm assembly is used for clamping one-die two workpieces in a non-material cake shape. According to the utility model, the manipulator component is used for clamping two material cake-shaped workpieces in one die, and can be used for taking out the workpieces from a die casting machine or carrying the workpieces when material cakes still exist, so that the working efficiency is greatly improved, the possibility of injury to personnel when the die casting equipment runs is reduced, and the labor intensity of workers is reduced. The second mechanical arm assembly is used for clamping rib plates of the non-material-cake-shaped one-die two-piece workpieces, and compared with clamping of the surfaces of the workpieces, different parts of the one-die two-piece workpieces can be carried, and the one-die two-piece workpieces in different processing states can be corresponding to the one-die two-piece workpieces in different processing states.

Description

Technical Field

[0001] The utility model relates to the technical field of handling manipulators, in particular to a special-purpose complex workpiece handling manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both humans and robots in structure and performance. In a die-casting workshop, a manipulator is generally used to move workpieces processed by die-casting equipment without affecting subsequent processing operations.

[0003] However, existing workpiece handling robots either have a single grasping method, grasping the workpiece at the material cake, or are unable to grasp unprocessed workpieces, and have poor applicability, thereby affecting working conditions and causing equipment failures. Utility Model Content

[0004] The purpose of the utility model is to provide a special complex workpiece handling manipulator, which solves the problems raised in the background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A special complex workpiece handling manipulator, comprising a base and a two-piece-in-one-die workpiece, characterized in that: a manipulator component 1 is provided on one side of the base, and a manipulator component 2 is provided on the other side of the base, the manipulator component 1 is used to clamp a two-piece-in-one-die workpiece of a material cake type, and the manipulator component 2 is used to clamp a two-piece-in-one-die workpiece of a non-material cake type;

[0007] The robot arm assembly 1 includes a support platform, a telescopic cylinder and two mechanical rocker arms, the support platform is fixedly mounted on the left side of the base platform, the telescopic cylinder is fixedly mounted on the bottom of the support platform, the two mechanical rocker arms are symmetrically arranged on the front and rear sides of the support platform, a connecting rod is arranged at the lower end of each mechanical rocker arm, and a moving rod is arranged at the upper end between the two connecting rods, a rotating shaft 1 passes through the mechanical rocker arm, and a rotating shaft 2 passes through the connection between the mechanical rocker arm and the connecting rod, a rotating shaft 3 passes through the connection between the two ends of the moving rod and the connection between the two connecting rods, the rotating shaft 1 is rotatably connected to the mechanical rocker arm, and one end of the rotating shaft 1 is fixedly mounted on the support platform, the rotating shaft 2 is connected to the mechanical rocker arm by interference fit, and the rotating shaft 2 is rotatably connected to the connecting rod, the rotating shaft 3 is rotatably connected to the connecting rod, and the rotating shaft 3 is connected to the moving rod by interference fit, and the output end of the telescopic cylinder is fixedly mounted on the moving rod;

[0008] The robot arm component 2 includes a support frame and six parallel cylinders. The support frame is fixedly installed on the right side of the base. The six parallel cylinders are all fixedly installed on the support frame, and the six parallel cylinders are divided into two groups and are respectively located on the front and back sides of the support frame. The output ends of the parallel cylinders are fixedly installed with claws.

[0009] As a further solution of the utility model: two clamping blocks are fixedly installed on the inner wall of each mechanical rocker arm, and anti-slip grooves are arranged on the side of the clamping block away from the mechanical rocker arm.

[0010] As a further solution of the utility model: two position adjustment bolts are installed on each of the parallel cylinders, and the parallel cylinders and the support frame are all connected with the position adjustment bolts through threads.

[0011] As a further solution of the utility model: the two groups of parallel cylinders located at the front and rear sides of the support frame are independently controlled respectively.

[0012] As a further solution of the utility model: reflective sensors are symmetrically fixedly installed on the inner walls of both sides of the support frame.

[0013] As a further solution of the utility model: the telescopic cylinder, the parallel cylinder and the reflective sensor are all electrically connected to a controller of an external power supply through wires.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] The telescopic cylinder drives the moving rod to move in the vertical direction through the work of the telescopic cylinder, and then the mechanical rocker arm can be driven to rotate with the axial direction of the rotating shaft one as the center through the rotating shaft three and the rotating shaft two, so that the mechanical rocker arm can be opened or contracted, so as to clamp the two-piece workpiece of the one-mold of the material cake type, which can be used to take out the workpiece from the die-casting machine, or to carry the workpiece when the material cake still exists, which greatly improves the work efficiency and reduces the possibility of injury to personnel during the operation of the die-casting equipment. The claw teeth can be driven to move through the telescopic and opening of the parallel cylinder to clamp the rib plate of the two-piece workpiece of the one-mold of the non-material cake type. Compared with clamping the surface of the workpiece, this clamping method is less likely to damage the surface of the workpiece, and when the workpiece is in the state of unprocessed slag bag, the robot arm component two can normally carry the workpiece. When the workpiece becomes two separate workpieces after secondary processing, the robot arm component two can also correspond to it, and can carry different parts of the two-piece workpiece of the one-mold, and can correspond to the two-piece workpiece of the one-mold in different processing states.

[0016] The clamping block with anti-slip grooves arranged on the inner wall of the mechanical rocker arm increases the stability of the manipulator assembly in clamping two cake-shaped workpieces in one mold. If a failure occurs in the current cooling process, the position adjustment bolt can be adjusted to make the second manipulator assembly correspond to the hot and cold states of the workpiece, which is flexible to use.

[0017] Two sets of independently controlled parallel cylinders can prevent damage to equipment or personnel caused by empty clamping of the robot assembly, and a reflective sensor is used to detect whether two workpieces in a mold are in place, effectively preventing mechanical damage or reduced efficiency caused by empty clamping of the robot assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0019] Figure 1 It is a schematic diagram of the structure of the utility model;

[0020] Figure 2 It is a schematic diagram of the structure of the utility model from the left;

[0021] Figure 3 It is a structural schematic diagram of the utility model from the right side.

[0022] In the figure: 1. base; 2. one mold and two workpieces; 3. manipulator assembly one; 31. support platform; 32. telescopic cylinder; 33. mechanical rocker arm; 34. connecting rod; 35. moving rod; 36. rotating shaft one; 37. rotating shaft two; 38. rotating shaft three; 39. clamping block; 4. manipulator assembly two; 41. support frame; 42. parallel cylinder; 43. claw teeth; 44. position adjustment bolt; 45. reflective sensor. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application. Example 1

[0024] See also Figure 1-3 The utility model provides a technical solution: a special complex workpiece handling manipulator, comprising a base 1 and a two-piece workpiece 2, a manipulator assembly 1 3 is arranged on one side of the base 1, and a manipulator assembly 2 4 is arranged on the other side of the base 1, the manipulator assembly 1 3 is used to clamp the two-piece workpiece 2 of the one-piece mold of the material cake type, and the manipulator assembly 2 4 is used to clamp the two-piece workpiece 2 of the one-piece mold of the non-cake type;

[0025] The manipulator assembly 13 includes a support platform 31, a telescopic cylinder 32 and two mechanical rocker arms 33. The support platform 31 is fixedly installed on the left side of the base 1, and the telescopic cylinder 32 is fixedly installed on the bottom of the support platform 31. The two mechanical rocker arms 33 are symmetrically arranged on the front and rear sides of the support platform 31. A connecting rod 34 is arranged at the lower end of each mechanical rocker arm 33, and a moving rod 35 is arranged at the upper end between the two connecting rods 34. A rotating shaft 136 runs through the mechanical rocker arm 33, and the connection between the mechanical rocker arm 33 and the connecting rod 34 runs through the rotating shaft 136. A second rotating shaft 37 is passed through, and the connection points between the two ends of the moving rod 35 and the two connecting rods 34 are penetrated by a third rotating shaft 38. The first rotating shaft 36 is rotatably connected to the mechanical rocker arm 33, and one end of the first rotating shaft 36 is fixedly installed on the support platform 31. The second rotating shaft 37 is connected to the mechanical rocker arm 33 by interference fit, and the second rotating shaft 37 is rotatably connected to the connecting rod 34. The third rotating shaft 38 is rotatably connected to the connecting rod 34, and the third rotating shaft 38 is connected to the moving rod 35 by interference fit. The output end of the telescopic cylinder 32 is fixedly installed on the moving rod 35.

[0026] The telescopic cylinder 32 works to drive the moving rod 35 to move in the vertical direction, so that the two ends of the moving rod 35 rotate with the axial directions of the rotating shaft 3 38 and the rotating shaft 2 37 as the center, respectively, and drive the mechanical rocker arm 33 to rotate with the axial direction of the rotating shaft 1 36 as the center, so that the mechanical rocker arm 33 can be opened or contracted, so as to clamp the two-piece workpiece 2 of the cake-shaped one mold and then carry it. It can be used to remove the workpiece from the die-casting machine, or to carry the workpiece when the cake is still there, which greatly improves the work efficiency and reduces the possibility of injury to personnel during the operation of the die-casting equipment.

[0027] The manipulator assembly 2 4 includes a support frame 41 and six parallel cylinders 42. The support frame 41 is fixedly mounted on the right side of the base 1. The six parallel cylinders 42 are all fixedly mounted on the support frame 41. The six parallel cylinders 42 are divided into two groups and are respectively located at the front and rear sides of the support frame 41. The output end of the parallel cylinder 42 is fixedly mounted with claws 43.

[0028] The claw teeth 43 can be driven to move by the extension and opening of the parallel cylinder 42 to clamp the ribs of the two non-cake-shaped workpieces 2 in one mold. Compared with clamping the workpiece surface, this clamping method is less likely to damage the workpiece surface. When the workpiece is in the state of an unprocessed slag bag, the robot assembly 2 4 can normally transport the workpiece. When the workpiece becomes two separate workpieces after secondary processing, the robot assembly 2 4 can also respond accordingly. Example 2

[0029] See also Figure 2-3, on the basis of the first embodiment, the utility model provides a technical solution: the utility model provides a technical solution: two clamping blocks 39 are fixedly installed on the inner wall of each mechanical rocker arm 33, and the side of the clamping block 39 away from the mechanical rocker arm 33 is provided with anti-slip grooves, and two position adjustment bolts 44 are installed on each parallel cylinder 42, and the parallel cylinder 42 and the support frame 41 are connected with the position adjustment bolts 44 through threads;

[0030] The clamping block 39 with anti-slip grooves arranged on the inner wall of the mechanical rocker arm 33 increases the stability of the manipulator assembly 1 3 in clamping the two-piece cake-shaped workpiece 2 in one mold; if a failure occurs in the current cooling treatment process, the position adjustment bolt 44 can be adjusted to make the manipulator assembly 2 4 correspond to the hot and cold states of the workpiece.

[0031] Two sets of parallel cylinders 42 on the front and rear sides of the support frame 41 are independently controlled, and reflective sensors 45 are symmetrically fixedly installed on the inner walls of both sides of the support frame 41. The telescopic cylinder 32, the parallel cylinder 42 and the reflective sensor 45 are all electrically connected to a controller with an external power supply through wires;

[0032] Two sets of independently controlled parallel cylinders 42 can prevent damage to equipment or personnel caused by empty clamping of the robot arm assembly 2 4, and a reflective sensor 45 is used to detect whether two workpieces 2 of a mold are in place, effectively preventing mechanical damage or reduced efficiency caused by empty clamping of the robot arm assembly 2 4, and having high safety.

[0033] Working principle: The telescopic cylinder 32 drives the moving rod 35 to move in the vertical direction, so that the two ends of the moving rod 35 rotate with the axial directions of the rotating shaft 38 and the rotating shaft 2 37 as the center, and drives the mechanical rocker arm 33 to rotate with the axial direction of the rotating shaft 1 36 as the center, so that the mechanical rocker arm 33 can be opened or contracted, so as to clamp the two-piece workpiece 2 of the cake-shaped one mold, and then carry it. It can be used to take out the workpiece from the die-casting machine, or to carry the workpiece when the cake is still there, which greatly improves the work efficiency and reduces the die-casting equipment. The possibility of injury to personnel during operation is eliminated by the extension and opening of the parallel cylinder 42, which can drive the claw teeth 43 to move, and is used to clamp the ribs of the non-cake-shaped one-die two-piece workpiece 2. Compared with clamping the workpiece surface, this clamping method is less likely to damage the workpiece surface, and when the workpiece is in the state of unprocessed slag bag, the manipulator assembly 2 4 can normally transport the workpiece. When the workpiece is processed twice and becomes two separate workpieces, the manipulator assembly 2 4 can also correspond to the different parts of the one-die two-piece workpiece 2, and can correspond to the one-die two-piece workpiece in different processing states;

[0034] The clamp block 39 with anti-slip grooves arranged on the inner wall of the mechanical rocker arm 33 increases the stability of the mechanical hand assembly 1 3 in clamping the two-piece workpiece 2 of the cake-shaped one-mold; if a fault occurs in the current cooling process, the position adjustment bolt 44 can be adjusted to make the mechanical hand assembly 2 4 correspond to the hot and cold state of the workpiece, which is flexible to use;

[0035] Two sets of independently controlled parallel cylinders 42 can prevent damage to equipment or personnel caused by empty clamping of the robot arm assembly 2 4, and a reflective sensor 45 is used to detect whether two workpieces 2 of a mold are in place, effectively preventing mechanical damage or reduced efficiency caused by empty clamping of the robot arm assembly 2 4.

[0036] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. Although the present application is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A special complex workpiece handling robot, comprising a base (1) and two workpieces (2) in one mold, characterized in that: A first manipulator assembly (3) is disposed on one side of the base (1), and a second manipulator assembly (4) is disposed on the other side of the base (1); the first manipulator assembly (3) is used to clamp two workpieces (2) of a biscuit-shaped mold, and the second manipulator assembly (4) is used to clamp two workpieces (2) of a non-biscuit-shaped mold; The manipulator assembly (3) comprises a support platform (31), a telescopic cylinder (32) and two mechanical rocker arms (33); the support platform (31) is fixedly mounted on the left side of the base platform (1); the telescopic cylinder (32) is fixedly mounted on the bottom of the support platform (31); the two mechanical rocker arms (33) are symmetrically arranged on the front and rear sides of the support platform (31); a connecting rod (34) is arranged at the lower end of each mechanical rocker arm (33); a moving rod (35) is arranged at the upper end between the two connecting rods (34); a rotating shaft (36) passes through the mechanical rocker arm (33); and the connection between the mechanical rocker arm (33) and the connecting rod (34) is A second rotating shaft (37) is passed through, and a third rotating shaft (38) is passed through the connection points between the two ends of the moving rod (35) and the two connecting rods (34), the first rotating shaft (36) is rotatably connected to the mechanical rocker arm (33), and one end of the first rotating shaft (36) is fixedly installed on the support platform (31), the second rotating shaft (37) is connected to the mechanical rocker arm (33) by interference fit, and the second rotating shaft (37) is rotatably connected to the connecting rod (34), the third rotating shaft (38) is rotatably connected to the connecting rod (34), and the third rotating shaft (38) is connected to the moving rod (35) by interference fit, and the output end of the telescopic cylinder (32) is fixedly installed on the moving rod (35); The manipulator assembly 2 (4) comprises a support frame (41) and six parallel cylinders (42), wherein the support frame (41) is fixedly mounted on the right side of the base (1), and the six parallel cylinders (42) are all fixedly mounted on the support frame (41), and the six parallel cylinders (42) are divided into two groups and are respectively located at the front and rear sides of the support frame (41), and claw teeth (43) are fixedly mounted on the output ends of the parallel cylinders (42).

2. The special complex workpiece handling robot according to claim 1 is characterized in that: Two clamping blocks (39) are fixedly mounted on the inner wall of each mechanical rocker arm (33), and a side of the clamping block (39) away from the mechanical rocker arm (33) is provided with anti-slip grooves.

3. The special complex workpiece handling robot according to claim 1 is characterized in that: Two position adjustment bolts (44) are installed on each of the parallel cylinders (42), and the parallel cylinders (42) and the support frame (41) are all connected to the position adjustment bolts (44) via threads.

4. The special complex workpiece handling robot according to claim 1, characterized in that: The two groups of parallel cylinders (42) located at the front and rear sides of the support frame (41) are independently controlled.

5. The special complex workpiece handling robot according to claim 1, characterized in that: Reflective sensors (45) are symmetrically fixedly mounted on the inner walls of both sides of the support frame (41).

6. The special complex workpiece handling robot according to claim 1, characterized in that: The telescopic cylinder (32), the parallel cylinder (42) and the reflective sensor (45) are all electrically connected to a controller of an external power source via wires.

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