Double-station backswing manipulator

Abstract

The utility model discloses a double-station backswing mechanical arm which comprises a first rotating air cylinder and a rotating disc, the rotating disc is in a right-angle triangular prism shape, the output end of the first rotating air cylinder is connected with the inclined face of the rotating disc, and pneumatic clamping jaws used for clamping products are arranged on the two right-angle faces of the rotating disc. A workpiece pushing mechanism is arranged at the bottom of the pneumatic clamping jaw and comprises a pushing plate, guide rods, springs and one or more spring seats, the spring seats are annularly arranged on the pneumatic clamping jaw, the pushing plate is in a three-fork shape, one guide rod is arranged below each spring seat, the pushing plate is connected among the three guide rods in a sliding mode, and the spring seats are arranged on the pushing plate. Each guide rod is sleeved with a spring, the lower end of each spring abuts against the upper surface of the push plate, external thread parts are arranged at the upper ends of the guide rods, adjusting nuts are connected to the external thread parts in a threaded mode, and the lower surfaces of the adjusting nuts abut against the upper ends of the springs. The structure can change the elasticity of the spring.

Description

Technical Field

[0001] The utility model belongs to the technical field related to manipulators, and particularly relates to a double-station swing-back manipulator. Background Technique

[0002] A pneumatic finger, also known as a pneumatic gripper or pneumatic finger, mainly uses compressed air as power to complete the clamping or grasping of workpieces. The most common rotary gripper device includes a rotary cylinder and a rotary frame in the shape of a right-angled triangular prism. The rotary cylinder is fixedly arranged on the inclined side of the rotary frame, and grippers are installed on both right-angled sides of the rotary frame. That is to say, one gripper is horizontally arranged and the other gripper is vertically arranged. One gripper realizes the grasping of blank workpieces, and the other gripper realizes the release of finished workpieces. They are used alternately. The horizontally arranged gripper is convenient for cooperating with the main shaft, facilitating the grasping of workpieces on the main shaft and the installation of blank workpieces onto the main shaft. The vertical gripper is convenient for grasping blank workpieces and releasing finished workpieces.

[0003] For the existing rotary gripper device, such as an automatic rotary gripper disclosed in Patent No. 201621146237.1, which includes a first rotary cylinder, a rotary disk, and a pneumatic gripper. The rotary disk is in the shape of a right-angled triangular prism, and the output end of the first rotary cylinder is connected to the inclined surface of the rotary disk; pneumatic grippers are provided on two right-angled surfaces of the rotary disk, and a connection disk is connected to the first rotary cylinder; the pneumatic gripper includes a connecting shaft, and at least three connecting blocks are arranged on the connecting shaft in a circumferentially uniform manner, and a gripper is movably connected to the connecting block; a workpiece propulsion mechanism is further provided on the connection disk; an air outlet device is connected to the rotary disk. This gripper has a compact and lightweight structure, is convenient for installation, has a high repeat positioning accuracy, and a low cost. It can directly clamp bar materials within the range of 25 - 40 mm in diameter, and has functions of propulsion positioning and blowing and cleaning. Although it solves the problems that the existing gripper cannot perform positioning and blowing functions, there are the following problems: The added workpiece propulsion mechanism uses the elastic force of a spring to push the workpiece into the clamping jaw of the equipment for positioning. As time goes by and the fixture is used frequently, the spring is repeatedly squeezed and deformed and reset, which ultimately leads to a deterioration of the spring elasticity and affects the elastic force effect. Since the existing structure cannot adjust the spring elastic force, only the spring can be replaced regularly, and the spring itself can still be used, resulting in serious waste. Therefore, improvement is needed. Content of the Utility Model

[0004] The purpose of the utility model is to provide a double-station swing-back manipulator, which solves the problem that the workpiece propulsion mechanism of the existing rotary gripper device cannot adjust the spring elastic force and can only replace the spring regularly, resulting in serious waste.

[0005] To solve the above technical problems, the utility model is realized through the following technical solutions:

[0006] The utility model relates to a double-station swing-back manipulator, which comprises a first rotary cylinder and a rotary disk. The rotary disk is in the shape of a right-angled triangular prism. The output end of the first rotary cylinder is connected to the inclined surface of the rotary disk. Pneumatic grippers for clamping products are arranged on the two right-angled surfaces of the rotary disk. A workpiece pushing mechanism is arranged at the bottom of the pneumatic grippers. The workpiece pushing mechanism comprises a push plate, guide rods, springs and more than one spring seat. The spring seats are arranged annularly on the pneumatic grippers. The push plate is in a three-pronged shape. One of the guide rods is arranged below each spring seat. The push plate is slidably connected between the three guide rods. A spring is sleeved on each guide rod. The lower end of the spring abuts against the upper surface of the push plate. The upper end of the guide rod is provided with an external thread portion, and an adjusting nut is threadedly connected to the external thread portion. The lower surface of the adjusting nut abuts against the upper end of the spring.

[0007] Preferably, an anti-slip gasket is abutted against the upper end of each spring. The anti-slip gasket is sleeved on the guide rod, and the upper surface of the anti-slip gasket is in contact with the lower surface of the adjusting nut.

[0008] Preferably, for the convenience of disassembly, the upper end of the guide rod is threadedly connected to a locking screw above the spring seat.

[0009] Preferably, to facilitate the adjustment of the distance between the gripper jaws and avoid empty clamping, the pneumatic gripper comprises a three-jaw cylinder and three grippers. Three pneumatic sliders driven by the three-jaw cylinder are arranged annularly on the three-jaw cylinder. One of the spring seats is arranged between two adjacent pneumatic sliders. A finger seat is arranged on each pneumatic slider. A gripper is arranged below the finger seat. A positioning screw is arranged on the finger seat. A kidney-shaped hole is arranged on the gripper. The positioning screw is stuck in the kidney-shaped hole. A detection sensor for detecting whether the product is clamped by the pneumatic gripper is arranged at the bottom of the three-jaw cylinder.

[0010] In order to increase the contact area, ensure the stability of fixation and facilitate quick adjustment, a first straight tooth is arranged on the lower surface of the finger seat, and a second straight tooth meshing with the first straight tooth is arranged on the upper surface of the gripper.

[0011] Preferably, in order to quickly blow off the dust on the product surface and improve the cleaning effect of the dust on the product surface, second rotary cylinders are arranged on the two right-angled surfaces of the rotary disk. The output shaft of each second rotary cylinder is connected to a positioning seat. One of the pneumatic grippers is fixed on each positioning seat. The positioning seat is parallel to the corresponding right-angled surface of the rotary disk. A lower bottom surface parallel to the inclined surface of the rotary disk is arranged between the two right-angled surfaces of the rotary disk. A positioning frame perpendicular to the lower bottom surface is fixed on the lower bottom surface. Air blowing heads with openings facing the surface of the product clamped by the pneumatic gripper are arranged on both sides of the positioning frame.

[0012] Preferably, for the convenience of installing the device, the first rotary cylinder is fixed on the inclined surface of a cylinder clamp seat. An installation flange plate is fixed above the cylinder clamp seat, and a square aluminum profile is fixed above the installation flange plate. The square aluminum profile is hollow, and the upper part of the square aluminum profile is open. A waist-shaped groove communicating with the square aluminum profile is arranged on the side of the square aluminum profile.

[0013] Preferably, to improve the clamping effect on the product, the clamping jaw includes a horizontally arranged connecting portion and a clamping portion vertically arranged with the connecting portion. An arc-shaped groove is arranged on the inner side surface of the clamping portion, and an arc-shaped clamping surface is arranged on the outer side surface of the clamping portion. And three arc-shaped grooves cooperate to form a first clamping opening, and three arc-shaped clamping surfaces cooperate to form a second clamping opening. An anti-slip silica gel strip is inserted into each arc-shaped groove from bottom to top.

[0014] Preferably, to improve the clamping effect on the product, a plurality of anti-slip convex points are arranged on the surface of the arc-shaped clamping surface.

[0015] The utility model has the following beneficial effects: By rotating the adjusting nut downward, the elastic force of the spring can be changed to avoid the problem that the elastic force decreases due to the long-term reciprocating movement of the spring, which ultimately affects the reset of the lower push plate. After the elastic force of the spring becomes poor in the later stage, there is no need to replace the spring. Only by adjusting the adjusting nut can the problem be solved, thus avoiding the waste caused by the need to regularly replace the spring. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of Product 1 in the prior art;

[0017] Figure 2 It is a schematic structural diagram of Product 2 in the prior art;

[0018] Figure 3 It is a schematic structural diagram of a double-station swing-back manipulator in Embodiment 1;

[0019] Figure 4 It is a schematic structural diagram of a clamping jaw in Embodiment 1;

[0020] Figure 5 It is a schematic combined structural diagram of three clamping jaws and three finger seats in Embodiment 1 (when the positioning screw is separated from the clamping jaw and the finger seat);

[0021] Figure 6 It is an exploded structural diagram of the guide rod and the positioning screw in Embodiment 1;

[0022] Figure 7 It is a partial exploded structural diagram of a double-station swing-back manipulator in Embodiment 2;

[0023] Figure 8Schematic structure of the gripper in Embodiment 3 Figure 1 ;

[0024] Figure 9 Schematic structure of the gripper in Embodiment 3 Figure 2 ;

[0025] Figure 10 It is a reference elevation view when three grippers in Embodiment 3 are combined to pick up a product.

[0026] Reference numerals:

[0027] Rotary cylinder 1, rotary disk 2, pneumatic gripper 3, three-jaw cylinder 301, gripper 302, pneumatic slider 303, finger seat 304, positioning screw 305, waist-shaped hole 306, detection sensor 307, workpiece propulsion mechanism 4, push plate 401, guide rod 402, spring 403, spring seat 404, external thread portion 405, adjusting nut 406, anti-slip gasket 407, locking screw 5, first straight tooth 6, second straight tooth 7, rotary cylinder 2 8, positioning seat 9, lower bottom surface 10, positioning frame 11, air blowing head 12, cylinder clamp seat 13, mounting flange plate 14, square aluminum profile 15, waist slot 16, connecting portion 3021, clamping portion 3022, arc-shaped groove 17, arc-shaped clamping surface 18, anti-slip silica gel strip 19, anti-slip bump 20. Detailed implementation manners

[0028] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0029] Embodiment 1

[0030] Please refer to Figures 3 - 6As shown in the figure, a double-station reciprocating manipulator disclosed in this embodiment includes a first rotary cylinder 1 and a rotary disk 2. The rotary disk 2 is in the shape of a right triangular prism. The output end of the first rotary cylinder 1 is connected to the inclined surface of the rotary disk 2. Pneumatic grippers 3 for clamping products are provided on two right-angled surfaces of the rotary disk 2. A workpiece pushing mechanism 4 is arranged at the bottom of the pneumatic gripper 3. The workpiece pushing mechanism 4 includes a push plate 401, guide rods 402, springs 403 and more than one spring seat 404. The spring seats 404 are arranged annularly on the pneumatic gripper 3. The push plate 401 is in a three-pronged shape. One of the guide rods 402 is arranged below each spring seat 404. The push plate 401 is slidably connected between the three guide rods 402. Each guide rod 402 is sleeved with a spring 403. The lower end of the spring 403 abuts against the upper surface of the push plate 401. The upper end of the guide rod 402 is provided with an external thread portion 405, and an adjusting nut 406 is threadedly connected to the external thread portion 405. The lower surface of the adjusting nut 406 abuts against the upper end of the spring 403.

[0031] Preferably, an anti-slip gasket 407 is abutted on the upper end of each spring 403. The anti-slip gasket 407 is sleeved outside the guide rod 402, and the upper surface of the anti-slip gasket 407 is in contact with the lower surface of the adjusting nut 406. For the convenience of disassembly, the upper end of the guide rod 402 is threadedly connected to a locking screw 5 above the spring seat 404.

[0032] Preferably, to facilitate the adjustment of the distance between the gripper jaws and avoid empty clamping, the pneumatic gripper 3 includes a three-jaw cylinder 301 and three gripper jaws 302. Three pneumatic sliders 303 driven by the three-jaw cylinder 301 are arranged annularly on the three-jaw cylinder 301. One of the spring seats 404 is arranged between two adjacent pneumatic sliders 303. A finger seat 304 is arranged on each pneumatic slider 303. A gripper jaw 302 is arranged below the finger seat 304. A positioning screw 305 is provided on the finger seat 304. A waist-shaped hole 306 is provided on the gripper jaw 302. The positioning screw 305 is stuck in the waist-shaped hole 306. A detection sensor 307 for detecting whether a product is clamped by the pneumatic gripper 3 is arranged at the bottom of the three-jaw cylinder 301. The above structural arrangement can adjust the distance between the three gripper jaws 302, and finally adjust the size of the gripper opening formed by the three gripper jaws 302, so that it can clamp products with different diameters. It only needs to loosen the positioning screw 305 to move the gripper jaw 302.

[0033] To increase the contact area, ensure the stability of fixation, and facilitate quick adjustment, a first straight tooth 6 is provided on the lower surface of the finger seat 304, and a second straight tooth 7 meshing with the first straight tooth 6 is provided on the upper surface of the jaw 302. This structure improves the stability when adjusting the jaw 302 through the meshing of the second straight tooth 7 and the first straight tooth 6.

[0034] Preferably, to facilitate the installation of this device, the first rotary cylinder 1 is fixed on the inclined surface of a cylinder clamp seat 13. An installation flange plate 14 is fixed above the cylinder clamp seat 13, and a square aluminum profile 15 is fixed above the installation flange plate 14. The square aluminum profile 15 is hollow, and the upper part of the square aluminum profile 15 is open. A waist-shaped groove 16 communicating with the square aluminum profile 15 is provided on the side of the square aluminum profile 15. During later installation, the connection frame of the truss head can be inserted into the opening of the square aluminum profile 15, and the device can be fixed by screwing through the waist-shaped groove 16 and the connection frame of the truss head, and it is also convenient to disassemble later.

[0035] In this structure, an external thread part 405 is added to the guide rod 402, and an adjusting nut 406 is threadedly connected to the external thread part 405. The lower surface of the adjusting nut 406 abuts against the upper end of the spring 403. By rotating the adjusting nut 406 downward, the elastic force of the spring 403 can be changed, so as to avoid the elastic force of the spring decreasing due to long-term reciprocating movement and finally affecting the reset of the lower push plate. After the elastic force of the spring deteriorates later, there is no need to replace the spring, and only the adjusting nut 406 needs to be adjusted to change it, thus avoiding the waste problem caused by the need to replace the spring regularly.

[0036] In this structure, the three-jaw cylinder 301 uses a middle-sealing air valve to ensure that the workpiece does not fall within a certain period of time in the case of power failure and air cut-off. In this structure, the clamping power selects the three-jaw cylinder 301 of AirTAC pneumatic, and the rotary design of the rotary cylinder is combined with a double-station jaw to clamp the product, reducing the empty running of the manipulator back and forth, saving the loading and unloading cycle time, and the equipment does not stop.

[0037] Embodiment 2

[0038] Please refer to Figure 7As shown in the figure, the general structure of a double-station swing-back manipulator disclosed in this embodiment is the same as that of Embodiment 1. The difference is that, preferably, in order to quickly blow off the dust on the product surface and improve the cleaning effect of the dust on the product surface, rotary cylinders II 8 are provided on two right-angle surfaces of the rotary disk 2. The output shaft of each rotary cylinder II 8 is connected to a positioning seat 9. One of the pneumatic grippers 3 is fixed on each positioning seat 9, and the positioning seat 9 is parallel to the corresponding right-angle surface of the rotary disk 2. A lower bottom surface 10 parallel to the inclined surface of the rotary disk 2 is provided between the two right-angle surfaces of the rotary disk 2. A positioning frame 11 perpendicular to the lower bottom surface 10 is fixed on the lower bottom surface 10. Air blowing heads 12 with openings facing the surface of the product clamped by the pneumatic grippers 3 are provided on both sides of the positioning frame 11. Through the above structural arrangement, when it is necessary to blow air on the product surface during operation, by driving the rotary cylinder II 8 to work, the pneumatic gripper 3 is driven to rotate 360 degrees, and the air blowing head 12 is driven to blow air on the surface of the product on the rotating pneumatic gripper 3, so as to quickly remove the dust on the product surface. It should be noted that the air blowing head 12 is connected to a pneumatic device through a trachea in the later stage to realize air supply, and finally the cleaning of the product surface is realized.

[0039] Embodiment 3

[0040] Please refer to Figures 8 - 10 As shown in the figure, the general structure of a double-station swing-back manipulator disclosed in this embodiment is the same as that of Embodiment 1. The difference is that, preferably, to improve the clamping effect on the product, the gripper 302 includes a horizontally arranged connecting portion 3021 and a clamping portion 3022 perpendicular to the connecting portion 3021. An arc-shaped groove 17 is provided on the inner side surface of the clamping portion 3022, and an arc-shaped clamping surface 18 is provided on the outer side surface of the clamping portion 3022. And three arc-shaped grooves 17 cooperate to form a first clamping opening, and three arc-shaped clamping surfaces 18 cooperate to form a second clamping opening. An anti-slip silica gel strip 19 is inserted from bottom to top in each arc-shaped groove 17. In this embodiment, this structure forms a first clamping opening that adopts an external clamping method for a columnar product I (such as Figure 1 shown) by providing arc-shaped grooves 17 on the inner side surface of each clamping portion 3022. As Figure 10 shown, it is used to clamp Figure 10 the small dotted-line product in the figure. Similarly, an arc-shaped clamping surface 18 is provided on the outer side surface of each clamping portion 3022. The arc-shaped clamping surface 18 forms a second clamping opening that adopts an internal support method for a columnar and hollow product II (such as Figure 2 shown). As Figure 10 shown, it is used to support Figure 10 the large dotted-line product in the figure. Therefore, the product is clamped in the form of internal support or external clamping of the columnar product, and an anti-slip silica gel strip 19 is added to increase the friction with the product, so as to improve the clamping force on the product.

[0041] Preferably, to improve the clamping effect on the product, a plurality of anti-slip bumps 20 are provided on the surface of the arc-shaped clamping surface 18. In this embodiment, by adding the anti-slip bumps 20, when clamping the product, the friction force with the surface of the product is increased to improve the clamping force on the product.

[0042] The above are only the preferred embodiments of the present invention and do not limit the present invention. Any modification of the technical solutions recorded in the foregoing embodiments, any equivalent replacement of some technical features, and any modification, equivalent replacement, and improvement made are all within the protection scope of the present invention.

Claims

1. A double-station swing robot, comprising a rotary cylinder (1) and a rotary disk (2), wherein the rotary disk (2) is in the shape of a right-angled triangular prism, the output end of the rotary cylinder (1) is connected to the inclined surface of the rotary disk (2), pneumatic clamps (3) for clamping products are provided on two right-angled surfaces of the rotary disk (2), and a workpiece propulsion mechanism (4) is provided at the bottom of the pneumatic clamps (3), the workpiece propulsion mechanism (4) comprises a push plate (401), a guide rod (402), a spring (403) and more than one spring seat (404), the spring seat (404) is annularly arranged on the pneumatic clamp (3), the push plate (401) is in the shape of a trident, and a guide rod (402) is provided below each spring seat (404), and the push plate (401) is slidably connected between the three guide rods (402), characterized in that: Each guide rod (402) is covered with a spring (403), the lower end of the spring (403) is against the upper surface of the push plate (401), the upper end of the guide rod (402) is provided with an external threaded portion (405), an adjusting nut (406) is threadedly connected to the external threaded portion (405), and the lower surface of the adjusting nut (406) is against the upper end of the spring (403).

2. A double-station swing-back manipulator according to claim 1, characterized in that: An anti-skid washer (407) is connected to the upper end of each spring (403). The anti-skid washer (407) is sleeved outside the guide rod (402), and the upper surface of the anti-skid washer (407) is in contact with the lower surface of the adjusting nut (406).

3. A double-station swing-back manipulator according to claim 1, characterized in that: The upper end of the guide rod (402) is threadedly connected to the locking screw (5) above the spring seat (404).

4. A double-station swing-back manipulator according to claim 1, 2 or 3, characterized in that: The pneumatic gripper (3) comprises a three-claw cylinder (301) and three grippers (302). Three pneumatic sliders (303) driven by the three-claw cylinder (301) are arranged in a ring shape on the three-claw cylinder (301). A spring seat (404) is arranged between two adjacent pneumatic sliders (303). A finger seat (304) is arranged on each pneumatic slider (303). A gripper (302) is arranged below the finger seat (304). A positioning screw (305) is arranged on the finger seat (304). A waist-shaped hole (306) is arranged on the gripper (302). The positioning screw (305) is clamped in the waist-shaped hole (306). A detection sensor (307) for detecting whether a product is clamped by the pneumatic gripper (3) is arranged at the bottom of the three-claw cylinder (301).

5. A double-station swing-back manipulator according to claim 4, characterized in that: A first straight tooth (6) is provided on the lower surface of the finger seat (304), and a second straight tooth (7) meshing with the first straight tooth (6) is provided on the upper surface of the clamping jaw (302).

6. A double-station swing-back manipulator according to claim 1, 2 or 3, characterized in that: A rotating cylinder 2 (8) is arranged on the two right-angled surfaces of the rotating disk (2), and the output shaft of the rotating cylinder 2 (8) is connected to a positioning seat (9), and each positioning seat (9) is fixed with a pneumatic clamp (3), and the positioning seat (9) is parallel to the right-angled surface corresponding to the rotating disk (2), and a lower bottom surface (10) parallel to the inclined surface of the rotating disk (2) is arranged between the two right-angled surfaces of the rotating disk (2), and a positioning frame (11) perpendicular to the lower bottom surface (10) is fixed on the lower bottom surface (10), and blowing heads (12) with openings facing the surface of the product clamped by the pneumatic clamp (3) are arranged on both sides of the positioning frame (11).

7. A double-station swing-back manipulator according to claim 1, 2 or 3, characterized in that: The rotary cylinder (1) is fixed on the inclined surface of a cylinder clamp seat (13); a mounting flange plate (14) is fixed above the cylinder clamp seat (13); a square aluminum profile (15) is fixed above the mounting flange plate (14); the square aluminum profile (15) is hollow and has an opening above the square aluminum profile (15); a waist groove (16) penetrating the square aluminum profile (15) is provided on the side of the square aluminum profile (15).

8. A double-station swing-back manipulator according to claim 1, 2 or 3, characterized in that: The clamping jaw (302) comprises a horizontally arranged connecting portion (3021) and a clamping portion (3022) arranged perpendicular to the connecting portion (3021); an inner side surface of the clamping portion (3022) is provided with an arc-shaped groove (17); an outer side surface of the clamping portion (3022) is provided with an arc-shaped clamping surface (18); three arc-shaped grooves (17) cooperate to form a first clamping opening; three arc-shaped clamping surfaces (18) cooperate to form a second clamping opening; and a non-slip silicone strip (19) is inserted into each arc-shaped groove (17) from bottom to top.

9. A double-station swing-back manipulator according to claim 8, characterized in that: The surface of the arc-shaped clamping surface (18) is provided with a plurality of anti-slip convex points (20).

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