Double-arm manipulator for forging production line

Abstract

The utility model belongs to the technical field of industrial automation, and particularly relates to a double-arm manipulator for a forging production line, which comprises a rack, a first sliding assembly, a second sliding assembly and a grabbing mechanism. The first sliding assembly comprises a sliding table slidably connected to the rack and a first driving mechanism which is in transmission connection with the sliding table and used for driving the sliding table to move horizontally relative to the rack. The second sliding assembly comprises two sliding plates slidably connected to the sliding table and a second driving mechanism in transmission connection with the sliding plates and used for driving the sliding plates to translate relative to the sliding table, and the moving direction of the sliding plates relative to the sliding table is perpendicular to the sliding direction of the sliding table relative to the rack; each grabbing mechanism comprises a moving beam with one end connected to the sliding plate, a pneumatic finger connected to the end, away from the sliding plate, of the moving beam and a clamp which is connected to the pneumatic finger and can be controlled by the pneumatic finger to be opened or closed.

Description

Technical Field

[0001] This application belongs to the field of industrial automation technology, and particularly relates to a double-arm manipulator for a forging production line. Background Art

[0002] In the process of automating forging production lines, the application of manipulators is becoming increasingly common. Their main function is to replace manual labor to complete operations such as workpiece grasping, handling, positioning, and placement.

[0003] However, traditional manipulators are mostly single-arm designs, such as the most commonly used articulated manipulators. In actual production, forging workpieces often need to be quickly and accurately moved from one station to another. When a single-arm manipulator performs these tasks, it can often only grasp or process one workpiece at a time, resulting in low production efficiency. Therefore, it is necessary to solve the above technical problems. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a double-arm manipulator for a forging production line to solve the technical problem of low production efficiency in existing forging production lines.

[0005] To achieve the above purpose, the technical solution adopted in this application is: to provide a double-arm manipulator for a forging production line, including:

[0006] A frame;

[0007] A first sliding assembly, including a slide table slidably connected to the frame and a first driving mechanism drivingly connected to the slide table and used to drive the slide table to translate relative to the frame;

[0008] A second sliding assembly, including two slide plates slidably connected to the slide table and a second driving mechanism drivingly connected to the slide plates and used to drive the slide plates to translate relative to the slide table. The moving direction of the slide plates relative to the slide table is perpendicular to the sliding direction of the slide table relative to the frame;

[0009] A grasping mechanism, with two groups corresponding to the slide plates, including a moving beam connected to one end of the slide plate, a pneumatic finger connected to the end of the moving beam away from the slide plate, and a clamp connected to the pneumatic finger and capable of being controlled by the pneumatic finger to open or close.

[0010] Optionally, the first driving mechanism includes a first servo motor installed on the slide table, a first gear connected to the power end of the first servo motor, and a first rack provided on the frame;

[0011] The first rack extends along the preset moving direction of the slide table and forms a transmission pair with the first gear.

[0012] Optionally, the first driving mechanism further includes a first linear guide disposed on the frame;

[0013] The first linear guide is parallel to the first rack and is slidably connected to the slide table.

[0014] Optionally, the first driving mechanism further includes a lower bottom plate connected to the frame and a lower enclosure annularly connected to the lower bottom plate;

[0015] The first rack and the first linear guide are connected to the lower bottom plate. The lower enclosure cooperates with the lower bottom plate to form a cavity for accommodating the first rack and the first linear guide. The slide table is placed on one side of the lower enclosure away from the lower bottom plate and is slidably connected to the lower enclosure.

[0016] Optionally, the second driving mechanism includes a second servo motor installed on the slide plate, a second gear connected to the power end of the second servo motor, and a second rack disposed on the slide table;

[0017] The second rack extends along the preset moving direction of the slide plate and forms a transmission pair with the second gear.

[0018] Optionally, the second driving mechanism further includes a second linear guide disposed on the slide table;

[0019] The second linear guide is parallel to the second rack and is slidably connected to the slide plate.

[0020] Optionally, the second driving mechanism further includes an upper bottom plate connected to the slide table and an upper enclosure annularly connected to the upper bottom plate;

[0021] The second rack and the second linear guide are connected to the upper bottom plate. The upper enclosure cooperates with the upper bottom plate to form a cavity for accommodating the second rack and the second linear guide. The slide plate is placed on one side of the upper enclosure away from the upper bottom plate and is slidably connected to the upper enclosure.

[0022] Optionally, the second driving mechanism further includes a support connected to the upper bottom plate and away from the slide plate, and a roller rotatably installed on the support and capable of rotating around its own axis;

[0023] The roller abuts against the bottom of the moving beam and is used to support the moving beam. The axis of the roller is perpendicular to the moving direction of the moving beam.

[0024] Optionally, the second driving mechanism further includes a housing connected to the upper enclosure;

[0025] The slide plate is disposed inside the housing, and the housing is further provided with a notch for the moving beam to pass through.

[0026] Optionally, adjustable feet that can be telescoped in the height direction of the frame are connected to the bottom of the frame;

[0027] Two adjustable feet are respectively arranged along the length direction and the width direction of the frame.

[0028] The beneficial effects of the double-arm manipulator for forging production lines provided by this application are as follows: Compared with the prior art, in the double-arm manipulator for forging production lines provided by this application, since the sliding table can move relative to the frame, and the sliding plate can move relative to the sliding table and the moving directions of the sliding plate and the sliding table are perpendicular to each other, the grasping mechanism connected to the sliding plate can freely move within a preset plane under the driving actions of the first driving mechanism and the second driving mechanism. Also, since two sets of grasping mechanisms are provided corresponding to the sliding plate, in a forging production line with a single forging process, the latter grasping mechanism can take out the forged part from the forging die and transfer it to the discharge conveyor belt or the forging part collection box during the process of the former grasping mechanism grasping materials from the material taking platform; while in a forging production line with at least two forging processes, the latter grasping mechanism can take out the target material, that is, the forged part, which has completed the previous forging process, from the forging die during the process of the former grasping mechanism grasping materials from the material taking platform. When the former grasping mechanism puts the raw material into the forging die, the latter grasping mechanism transfers the obtained forged part to the next forging process. In this way, the production efficiency of the forging production line can be greatly improved, far superior to the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0030] Figure 1 is an exploded structural schematic diagram of the double-arm manipulator for forging production lines in the embodiment of this application Figure 1 ;

[0031] Figure 2 is an exploded structural schematic diagram of the double-arm manipulator for forging production lines in the embodiment of this application Figure 2 ;

[0032] Figure 3 is Figure 1 an enlarged view of the structure at A in

[0033] Figure 4 is a top view structural schematic diagram of the double-arm manipulator for forging production lines in the embodiment of this application;

[0034] Figure 5 The sectional view along Figure 4 section line B-B in the figure;

[0035] Among them, each reference numeral in the figure: 100, frame; 101, adjustable support feet; 201, sliding table; 202, first servo motor; 203, first gear; 204, first rack; 205, first linear guide; 206, lower bottom plate; 207, lower enclosure; 301, slide plate; 302, second servo motor; 303, second gear; 304, second rack; 305, second linear guide; 306, upper bottom plate; 307, upper enclosure; 308, support; 309, roller; 310, housing; 401, moving beam; 402, pneumatic finger; 403, clamp. Specific embodiments

[0036] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following further details this application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0037] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0039] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0040] Please refer to Figures 1 to 5, a double-arm manipulator for a forging production line provided by an embodiment of the present application will now be described. The double-arm manipulator for the forging production line includes a frame 100, a first sliding assembly, a second sliding assembly, and a grasping mechanism. Among them:

[0041] The first sliding assembly includes a sliding table 201 slidably connected to the frame 100 and a first driving mechanism drivingly connected to the sliding table 201 and used to drive the sliding table 201 to translate relative to the frame 100; the second sliding assembly includes two sliding plates 301 slidably connected to the sliding table 201 and a second driving mechanism drivingly connected to the sliding plates 301 and used to drive the sliding plates 301 to translate relative to the sliding table 201, and the moving direction of the sliding plates 301 relative to the sliding table 201 is perpendicular to the sliding direction of the sliding table 201 relative to the frame 100; two sets of grasping mechanisms are correspondingly arranged for the sliding plates 301 and include a moving beam 401 with one end connected to the sliding plates 301, a pneumatic finger 402 connected to the end of the moving beam 401 away from the sliding plates 301, and a clamp 403 connected to the pneumatic finger 402 and capable of being controlled by the pneumatic finger 402 to open or close. It can be understood that in this embodiment, the clamp 403 can achieve a flexible grasping effect through the control of the pneumatic finger 402.

[0042] According to the above structure provided in this embodiment, in the double-arm robot for the forging production line provided in this embodiment, since the sliding table 201 can move relative to the frame 100, and the sliding plate 301 can move relative to the sliding table 201 and the moving directions of the sliding plate 301 and the sliding table 201 are perpendicular to each other, the grasping mechanism connected to the sliding plate 301 can freely move within a preset plane under the driving action of the first driving mechanism and the second driving mechanism. Also, since two sets of grasping mechanisms are provided corresponding to the sliding plate 301, in the forging production line with one forging process, the latter grasping mechanism can take out the forged part from the forging die and transfer it to the discharge conveyor belt or the forging collection box during the process of the former grasping mechanism grasping the material from the material taking platform. Here, it can be understood that since the two sliding plates 301 are both arranged on the same sliding table 201, the material taking position of the former grasping mechanism and the position of the forging die in the moving direction of the sliding table 201 are preset and adapted to the positions of the two grasping mechanisms in the moving direction of the sliding table 201. That is, when the former grasping mechanism takes the material at the material taking platform position, the latter grasping mechanism moves forward to the forging die position to take out the forged part and then retracts. When the former grasping mechanism reaches the forging die position and puts the raw material into the forging die, the latter grasping mechanism holds the forged part and reaches the discharge conveyor belt or the forging collection box position. In the forging production line with at least two forging processes, the latter grasping mechanism can also take out the target material, that is, the forged part that has completed the previous forging process, from the forging die during the process of the former grasping mechanism grasping the material from the material taking platform. When the former grasping mechanism puts the raw material into the forging die, the latter grasping mechanism transfers the obtained forged part to the next forging process. In this way, the production efficiency of the forging production line can be greatly improved, far superior to the prior art.

[0043] In another embodiment of the present application, please refer to Figures 1 to 5 , the first driving mechanism includes a first servo motor 202 installed on the sliding table 201, a first gear 203 connected to the power end of the first servo motor 202, and a first rack 204 arranged on the frame 100; the first rack 204 extends along the preset moving direction of the sliding table 201 and forms a transmission pair with the first gear 203. According to the above structure provided in this embodiment, the first servo motor 202 can achieve high-precision adjustment of the position of the sliding table 201 through its precise control system, so as to ensure the smooth translation of the sliding table 201 on the frame 100. In addition, the transmission pair formed by the first gear 203 and the first rack 204 has the characteristics of good rigidity and stable transmission, and can maintain a stable transmission effect for a long time, which is beneficial to further improving the production efficiency of the forging production line.

[0044] In another embodiment of the present application, please refer to Figures 1 to 5, the first driving mechanism further includes a first linear guide rail 205 disposed on the frame 100; the first linear guide rail 205 is parallel to the first rack 204 and is slidably connected to the slide table 201. According to the above structure provided in this embodiment, since the first linear guide rail 205 is slidably connected to the slide table 201, the slide table 201 can always move along the predetermined trajectory of the first linear guide rail 205 during the movement process, which can ensure that the movement of the slide table 201 is smoother and more stable, and is beneficial to further improving the production efficiency of the forging production line.

[0045] In another embodiment of the present application, please refer to Figures 1 to 5 , the first driving mechanism further includes a lower bottom plate 206 connected to the frame 100 and a lower enclosure 207 connected to the lower bottom plate 206 in a ring shape; the first rack 204 and the first linear guide rail 205 are connected to the lower bottom plate 206, and the lower enclosure 207 cooperates with the lower bottom plate 206 to form a cavity for accommodating the first rack 204 and the first linear guide rail 205, and the slide table 201 is placed on the side of the lower enclosure 207 away from the lower bottom plate 206 and is slidably connected to the lower enclosure 207. According to the above structure provided in this embodiment, the lower enclosure 207 can cooperate with the lower bottom plate 206 and the slide table 201 to effectively isolate the interference of external dust, metal chips and other sundries to the first rack 204 and the first linear guide rail 205, so that the double-arm manipulator for the forging production line provided in this embodiment can maintain long-term stable operation in a harsh forging environment, reduce the maintenance requirements, and is beneficial to further improving the production efficiency of the forging production line.

[0046] In another embodiment of the present application, please refer to Figures 1 to 5 , the second driving mechanism includes a second servo motor 302 installed on the slide plate 301, a second gear 303 connected to the power end of the second servo motor 302, and a second rack 304 disposed on the slide table 201; the second rack 304 extends along the preset moving direction of the slide plate 301 and forms a transmission pair with the second gear 303. According to the above structure provided in this embodiment, the second servo motor 302 can achieve the same technical effect as the first servo motor 202 and can ensure the smooth translation of the slide plate 301 on the slide table 201. The second gear 303 and the second rack 304 can also better ensure the movement stability between the slide plate 301 and the slide table 201. In addition, the second servo motor 302 can also form a more precise cooperation with the first servo motor 202, which is beneficial to further improving the production efficiency of the forging production line.

[0047] In another embodiment of the present application, please refer to Figures 1 to 5, the second driving mechanism further includes a second linear guide 305 provided on the sliding table 201; the second linear guide 305 is parallel to the second rack 304 and is slidably connected to the sliding plate 301. According to the above structure provided in this embodiment, since the second linear guide 305 is slidably connected to the sliding plate 301, the sliding plate 301 can always move along the predetermined trajectory of the second linear guide 305 during movement, which can ensure that the movement of the sliding plate 301 is smoother and more stable, and is beneficial to further improving the production efficiency of the forging production line.

[0048] In another embodiment of the present application, please refer to Figures 1 to 5 , the second driving mechanism further includes an upper bottom plate 306 connected to the sliding table 201 and an upper enclosure 307 annularly connected to the upper bottom plate 306; the second rack 304 and the second linear guide 305 are connected to the upper bottom plate 306, and the upper enclosure 307 cooperates with the upper bottom plate 306 to form a cavity for accommodating the second rack 304 and the second linear guide 305, and the sliding plate 301 is erected on the side of the upper enclosure 307 away from the upper bottom plate 306 and is slidably connected to the upper enclosure 307. According to the above structure provided in this embodiment, the upper enclosure 307 can effectively isolate the interference of external dust, metal chips and other sundries to the second rack 304 and the second linear guide 305 in cooperation with the upper bottom plate 306 and the sliding plate 301, which can further improve the running stability of the double-arm manipulator for the forging production line in this embodiment, and thus is beneficial to further improving the production efficiency of the forging production line.

[0049] In another embodiment of the present application, please refer to Figures 1 to 5 , the second driving mechanism further includes a support 308 connected to the upper bottom plate 306 and away from the sliding plate 301 and a roller 309 rotatably installed on the support 308 and capable of rotating around its own axis; the roller 309 abuts against the bottom of the moving beam 401 and is used to support the moving beam 401, and the axis of the roller 309 is perpendicular to the moving direction of the moving beam 401. According to the above structure provided in this embodiment, the design of the roller 309 effectively supports the moving beam 401. In this way, during the workpiece grasping and moving process, it can effectively prevent the moving beam 401 from sinking or shaking due to its own weight or workpiece load. This structure makes the grasping mechanism more stable during operation, especially when dealing with heavy workpieces, and can ensure the accuracy of grasping and placing operations, which is beneficial to further improving the production efficiency of the forging production line.

[0050] In another embodiment of the present application, please refer to Figures 1 to 5, the second driving mechanism further includes a housing 310 connected to the upper enclosure 307; the sliding plate 301 is disposed inside the housing 310, and a notch for the moving beam 401 to pass through is further provided on the housing 310. According to the above structure provided in this embodiment, the housing 310 can completely wrap the sliding plate 301 and the transmission mechanism inside it, which can effectively prevent the sliding plate 301 and the internal components from being contaminated or damaged by the outside world, thereby being beneficial to extending the service life of the grasping mechanism. In addition, the notch provided on the housing 310 for the moving beam 401 to pass through can also ensure the flexible use effect of the moving beam 401, which is beneficial to further improving the production efficiency of the forging production line.

[0051] In another embodiment of the present application, please refer to Figures 1 to 5 , adjustable feet 101 capable of telescoping in the height direction of the frame 100 are connected to the bottom of the frame 100; two adjustable feet 101 are respectively provided along the length direction and the width direction of the frame 100. According to the above structure provided in this embodiment, the adjustable feet 101 can adjust the height of the double-arm manipulator for the forging production line in this embodiment according to different ground conditions, ensuring that the manipulator can still maintain stability on uneven ground. At the same time, it can also adapt to more complex production environments and enable it to operate normally and efficiently under complex site conditions, which is beneficial to further improving the production efficiency of the forging production line.

[0052] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A double-arm manipulator for a forging production line, characterized in that, Including: A frame (100); A first sliding assembly, including a sliding table (201) slidably connected to the frame (100) and a first driving mechanism drivingly connected to the sliding table (201) and used to drive the sliding table (201) to translate relative to the frame (100); A second sliding assembly, including two sliding plates (301) slidably connected to the sliding table (201) and a second driving mechanism drivingly connected to the sliding plates (301) and used to drive the sliding plates (301) to translate relative to the sliding table (201), the moving direction of the sliding plates (301) relative to the sliding table (201) being perpendicular to the sliding direction of the sliding table (201) relative to the frame (100); A grasping mechanism, with two groups corresponding to the sliding plates (301) and including a moving beam (401) connected to one end of the sliding plates (301), a pneumatic finger (402) connected to the end of the moving beam (401) far from the sliding plates (301), and a clamp (403) connected to the pneumatic finger (402) and capable of being controlled by the pneumatic finger (402) to open or close.

2. The double-arm manipulator for a forging production line according to claim 1, wherein: The first driving mechanism includes a first servo motor (202) installed on the sliding table (201), a first gear (203) connected to the power end of the first servo motor (202), and a first rack (204) provided on the frame (100); The first rack (204) extends along the preset moving direction of the sliding table (201) and forms a transmission pair with the first gear (203).

3. The double-arm manipulator for a forging production line according to claim 2, wherein: The first driving mechanism further includes a first linear guide (205) provided on the frame (100); The first linear guide (205) is parallel to the first rack (204) and is slidably connected to the sliding table (201).

4. The double-arm manipulator for a forging production line according to claim 3, wherein: The first driving mechanism further includes a lower base plate (206) connected to the frame (100) and a lower enclosure (207) annularly connected to the lower base plate (206); The first rack (204) and the first linear guide (205) are connected to the lower base plate (206), the lower enclosure (207) cooperates with the lower base plate (206) to form a cavity for accommodating the first rack (204) and the first linear guide (205), and the sliding table (201) is placed on the side of the lower enclosure (207) far from the lower base plate (206) and is slidably connected to the lower enclosure (207).

5. The double-arm manipulator for a forging production line according to claim 1, wherein: The second driving mechanism includes a second servo motor (302) installed on the sliding plate (301), a second gear (303) connected to the power end of the second servo motor (302), and a second rack (304) provided on the sliding table (201); The second rack (304) extends along a preset moving direction of the slide plate (301) and forms a transmission pair with the second gear (303).

6. The double-arm manipulator for a forging production line according to claim 5, wherein: The second driving mechanism further includes a second linear guide (305) provided on the slide table (201); The second linear guide (305) is parallel to the second rack (304) and is slidably connected to the slide plate (301).

7. The double-arm manipulator for a forging production line according to claim 6, wherein: The second driving mechanism further includes an upper bottom plate (306) connected to the slide table (201) and an upper enclosure (307) annularly connected to the upper bottom plate (306); The second rack (304) and the second linear guide (305) are connected to the upper bottom plate (306), and the upper enclosure (307) and the upper bottom plate (306) cooperate to form a cavity for accommodating the second rack (304) and the second linear guide (305), and the slide plate (301) is placed on a side of the upper enclosure (307) away from the upper bottom plate (306) and is slidably connected to the upper enclosure (307).

8. The double-arm manipulator for a forging production line according to claim 7, wherein: The second driving mechanism further includes a support (308) connected to the upper bottom plate (306) and away from the slide plate (301) and a roller (309) rotatably mounted on the support (308) and capable of rotating about its own axis; The roller (309) abuts against the bottom of the moving beam (401) and is used to support the moving beam (401), and the axis of the roller (309) is perpendicular to the moving direction of the moving beam (401).

9. The double-arm manipulator for a forging production line according to claim 7, wherein: The second driving mechanism further includes a housing (310) connected to the upper enclosure (307); The slide plate (301) is disposed inside the housing (310), and the housing (310) is further provided with a notch for the moving beam (401) to pass through.

10. The double-arm manipulator for a forging production line according to claim 1, wherein: Adjustable support feet (101) capable of telescoping in the height direction of the frame (100) are connected to the bottom of the frame (100); Two adjustable support feet (101) are respectively provided along the length direction and the width direction of the frame (100).

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