Dismounting and transferring device for double-arm manipulator of press line

Abstract

The utility model discloses a dismounting and transferring device for a double-arm manipulator of a press line, and mainly relates to the field of maintenance of double-arm manipulators. Comprising a plurality of consignment platforms and a transfer trolley, a guide rail is arranged below a manipulator big arm, the transfer trolley is connected to the guide rail in a sliding mode, a lifting column is arranged on the transfer trolley, a support is rotationally connected to the top of the lifting column, and big arm supporting beams used in cooperation with the manipulator big arm are symmetrically arranged at the two ends of the support; a telescopic frame is slidably connected to the fixing frame in the transverse direction, a supporting column is arranged at the end of the telescopic frame, and a large arm bearing beam used in cooperation with a large arm of the mechanical arm is arranged at the position, above the supporting column, of the telescopic frame. The double-arm manipulator has the advantages that the technical problem that a large arm of an existing double-arm manipulator is difficult to disassemble and transfer to the outside of a stamping line can be solved, effective supporting and convenient transfer are achieved when the large arm is disassembled, the disassembly and maintenance difficulty of the large arm is lowered, and the convenience of later disassembly and maintenance is improved.

Description

Technical Field

[0001] The utility model relates to the field of disassembly and maintenance of double-arm manipulators, in particular to a disassembly and transfer device for double-arm manipulators of a stamping line. Background Art

[0002] For noise reduction and safety reasons, the current stamping lines are all located inside the protective structure except for the area at the end of the line where manual material collection is required. The entire protective structure is basically equipped with safety doors and functional doors similar to mold changing. The same is true for the double-arm robot stamping line. However, due to the large structure and heavy weight of the double-arm robot, after the entire line is installed, if there is a need for maintenance, the double arms need to be transported out of the stamping line. The current protective structure only has safety doors for operators to pass through and functional doors for mold changing trolleys to pass through. It is difficult for the large arms of the double-arm robot to be transported outside the stamping line through these doors. In addition, the large arms are heavy and difficult to carry during disassembly and maintenance, resulting in certain difficulties in the later disassembly and maintenance of the double-arm robot of the stamping line. Utility Model Content

[0003] The purpose of this utility model is to provide a disassembly and transfer device for a double-arm manipulator of a stamping line, which can solve the technical problem that the upper arm of the existing double-arm manipulator is difficult to disassemble and transfer outside the stamping line, realize effective support and convenient transfer of the upper arm during disassembly, reduce the difficulty of disassembly and maintenance of the upper arm, and improve the convenience of later disassembly and maintenance.

[0004] In order to achieve the above-mentioned purpose, the present invention is realized through the following technical solutions:

[0005] A disassembly and transfer device for a double-arm manipulator of a stamping line, comprising a plurality of consignment platforms arranged on a stamping workbench and a transfer trolley capable of entering and exiting under the manipulator's main arm, a guide rail being provided under the manipulator's main arm, the transfer trolley being slidably connected to the guide rail, a lifting column being provided on the transfer trolley, the top of the lifting column being rotatably connected to a bracket, and both ends of the bracket being symmetrically provided with a large arm support beam for cooperating with the manipulator's main arm, the consignment platform comprising a fixed frame, a telescopic frame being slidably connected to the fixed frame in a transverse direction, a support column being provided at the end of the telescopic frame, and a large arm receiving beam for cooperating with the manipulator's main arm being provided at a position above the support column on the telescopic frame.

[0006] Furthermore, the longitudinal section of the arm support beam is Y-shaped, and the manipulator arm is engaged at the top of the Y-shape.

[0007] Furthermore, a plurality of lifting legs are provided on the side of the transfer trolley.

[0008] Furthermore, a plurality of supporting diagonal rods are provided between the side surfaces of the lifting column and the transfer trolley.

[0009] Furthermore, the fixed frame is provided with a slide groove, and the telescopic frame is provided with a plurality of rollers, and the rollers are rollingly connected in the slide groove.

[0010] Furthermore, the longitudinal section of the arm supporting beam is U-shaped to engage with the manipulator arm.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] 1. The structure of the utility model is to provide a transfer trolley that can enter and exit under the manipulator arm, and to provide a lifting column on the transfer trolley. The movable end of the top of the lifting column is rotatably provided with a bracket, and both ends of the bracket are provided with a large arm support beam used in conjunction with the manipulator arm. Such a structure enables the transfer trolley to pass through the protective structure of the stamping line through the guide rail to enter the inside of the stamping line and move to the bottom of the manipulator arm. The bracket is driven to rise by the lifting column so that the large arm support beams at both ends of the bracket are in contact with the manipulator arm, thereby achieving effective support during the disassembly process of the manipulator arm, greatly improving the convenience of disassembling the heavy manipulator arm and reducing the difficulty of disassembly and maintenance.

[0013] 2. A shipping platform is provided on the stamping workbench, which can be moved to the vicinity of the guide rail under the drive of the stamping workbench. After the manipulator arm is disassembled, the bracket is rotated so that the manipulator arm on the bracket is rotated to a direction parallel to the guide rail and moves along the guide rail to the shipping platform. The telescopic frames on multiple shipping platforms slide horizontally so that the arm receiving beam at the end of the telescopic frame moves to the bottom of the manipulator arm and supports the support column to the ground. Thereafter, the lifting column drives the bracket and the manipulator arm to descend so that the manipulator arm contacts the arm receiving beam below. Thereafter, the bracket and the arm support beam continue to descend until they are separated from the manipulator arm, thereby realizing effective transfer of the manipulator arm. Thereafter, the telescopic frame slides in the opposite direction to the fixed frame, and the stamping workbench is used to drive the manipulator arm to move to the outside of the stamping line, making the disassembly and transportation process of the manipulator arm more convenient and quick, greatly reducing the difficulty of disassembly and maintenance, and improving the efficiency and convenience of disassembly and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attachment Figure 1 It is a schematic diagram of the position of the existing manipulator arm of the present utility model.

[0015] Attachment Figure 2 It is a structural schematic diagram of the disassembly and transportation process of the utility model.

[0016] Attachment Figure 3 It is a structural schematic diagram of the transfer trolley of the present utility model.

[0017] Attachment Figure 4 It is a structural schematic diagram of the consignment platform of the present utility model.

[0018] Reference numerals shown in the accompanying drawings:

[0019] 1. Stamping workbench; 2. Robot arm; 3. Transfer trolley; 4. Guide rail; 5. Lifting column; 6. Bracket; 7. Arm support beam; 8. Fixed frame; 9. Telescopic frame; 10. Support column; 11. Arm receiving beam; 12. Lifting leg; 13. Support diagonal rod; 14. Slide; 15. Roller. DETAILED DESCRIPTION

[0020] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the contents of this invention, those skilled in the art may make various changes or modifications to the present invention, and that these equivalent forms also fall within the scope defined in this application.

[0021] Reference Figure 1 and Figure 2The utility model is a disassembly and transfer device for a double-arm manipulator of a stamping line. The main structure includes multiple shipping platforms arranged on the stamping workbench 1 and a transfer trolley 3 that can enter and exit under the manipulator arm 2. The stamping workbench 1 is used to transport stamping parts. The shipping platform is placed on the stamping workbench 1, and the manipulator arm 2 can be transferred with the help of the stamping workbench 1, which further reduces the difficulty of transferring the manipulator arm 2. A guide rail 4 is provided under the manipulator arm 2. The transfer trolley 3 is slidably connected to the guide rail 4. The guide rail 4 passes through the protective structure of the stamping line, so that the transfer trolley 3 can enter the interior of the stamping line protective structure along the guide rail 4. The guide rail 4 can be the mold changing track of the mold changing trolley in the prior art. , no need to rebuild, reduce construction costs, save the internal space of the stamping line, the transfer trolley 3 is fixed with a lifting column 5 by welding or bolts, and the specific structure can be a cylinder or oil cylinder structure. The top movable end of the lifting column 5 is rotatably connected to the bracket 6 through a bearing, so that the position of the bracket 6 can be rotated, and the two ends of the bracket 6 are symmetrically fixed with a large arm support beam 7 used in conjunction with the manipulator arm 2 by welding or bolts. The large arm support beam 7 can contact the manipulator arm 2 of the double-arm manipulator to support it, so that the disassembled manipulator arm 2 can be carried by the large arm support beam 7 and then transferred. The shipping platform includes a fixed frame 8, which plays a supporting role and is placed On the stamping workbench 1, the fixed frame 8 is connected to the telescopic frame 9 along the horizontal sliding direction. The telescopic frame 9 can slide horizontally relative to the fixed frame 8, so that the telescopic frame 9 can be extended to the bottom of the manipulator arm 2 or retracted to the fixed frame 8. The end of the telescopic frame 9 is provided with a support column 10, and the support column 10 is used to support the end of the telescopic frame 9 after the extension. The bottom of the telescopic frame 9 is located on the ground. The position above the support column 10 on the telescopic frame 9 is provided with an arm receiving beam 11 used in conjunction with the manipulator arm 2. After the manipulator arm 2 is disassembled, the bracket 6 on the transfer trolley 3 is rotated to a direction parallel to the guide rail 4, and the stamping workbench 1 drives the shipping platform to move near the guide rail 4. Thereafter, the telescopic frame 9 is slid out horizontally to The boom receiving beam 11 at the end moves to the bottom of the manipulator boom 2, and then the lifting column 5 drives the bracket 6 and the manipulator boom 2 to descend, so that the manipulator boom 2 contacts the boom receiving beam 11 of multiple shipping platforms, and continues to descend until the boom support beam 7 is separated from the manipulator boom 2, thereby transferring the manipulator boom 2 to multiple boom receiving beams 11, and then the telescopic frame 9 resets and slides to the fixed frame 8, thereby successfully transferring the manipulator boom 2 to multiple shipping platforms of the stamping workbench 1. After that, the stamping workbench 1 can be used to transfer the manipulator boom 2 to the outside of the stamping line protective structure for inspection and maintenance, which greatly improves the convenience of disassembly and maintenance of the manipulator boom 2, reduces the difficulty of disassembly, and improves the efficiency of disassembly and maintenance.

[0022] Preferably, refer to Figure 3The longitudinal section of the arm support beam 7 is Y-shaped, the manipulator arm 2 is engaged in the top of the Y-shape, the bottom of the Y-shape is fixedly connected to the bracket 6 by welding or bolts, and the opening at the top of the Y-shape matches the shape of the manipulator arm 2, thereby achieving stable positioning and support for the manipulator arm 2, and further improving the stability of the manipulator arm 2 during disassembly.

[0023] Preferably, the side of the transfer trolley 3 is provided with multiple lifting legs 12, which can be driven to lift and lower by a pneumatic cylinder or an oil cylinder. Such a structure allows multiple lifting legs 12 to drop to contact the ground when carrying the manipulator arm 2, and the transfer trolley 3 is not prone to tilting or tipping over, making the transfer trolley 3 more stable in carrying and transporting the manipulator arm 2, thereby improving the safety of the disassembly and transfer process.

[0024] Preferably, a plurality of supporting diagonal rods 13 are fixed between the side of the lifting column 5 and the transfer trolley 3 by welding or bolts. The provision of a plurality of supporting diagonal rods 13 can make the structure of the lifting column 5 more solid. Since the weight of the manipulator arm 2 is large, when the arm support beams 7 at both ends of the bracket 6 contact the manipulator arm 2 to support it, the provision of a plurality of supporting diagonal rods 13 can ensure the stability of the bracket 6 and the manipulator arm 2 during the lifting and rotation process, avoid the fracture of the inclined setting of the lifting column 5, and further improve the safety and stability of the load-bearing and transfer process.

[0025] Preferably, refer to Figure 4 The fixed frame 8 is provided with a slide groove 14, and the specific slide groove 14 is arranged on the top of the fixed frame 8. The telescopic frame 9 is rotatably connected to a plurality of rollers 15 through bearings, and the rollers 15 are rollingly connected in the slide groove 14. Such a structure makes the lateral sliding of the telescopic frame 9 relative to the fixed frame 8 smoother and the friction resistance is smaller. When the manipulator arm 2 is located on the arm supporting beam 11 on the telescopic frame 9, the telescopic frame 9 can be pushed more easily to slide horizontally to the fixed frame 8, reducing the difficulty of moving the manipulator arm 2 and improving the smoothness of the transfer process.

[0026] Preferably, the longitudinal section of the upper arm supporting beam 11 is U-shaped to engage with the upper arm 2 of the manipulator. The U-shaped structure can better engage with the longitudinal section of the upper arm 2 of the manipulator, thereby improving the firmness of the contact surface with the upper arm 2 of the manipulator and further improving the supporting effect.

[0027] Working principle: The structure of the present invention is to set up a transfer trolley 3 that can enter and exit the bottom of the manipulator arm 2, and set a lifting column 5 on the transfer trolley 3. The movable end of the top of the lifting column 5 is rotatably provided with a bracket 6, and both ends of the bracket 6 are provided with a large arm support beam 7 used in conjunction with the manipulator arm 2. Such a structure allows the transfer trolley 3 to pass through the guide rail 4 through the protective structure of the stamping line to enter the inside of the stamping line and move to the bottom of the manipulator arm 2. The bracket 6 is driven to rise by the lifting column 5, so that the large arm support beams 7 at both ends of the bracket 6 are in contact with the manipulator arm 2, thereby achieving effective support for the manipulator arm 2 during the disassembly process, greatly improving the convenience of disassembling the heavier manipulator arm 2, and reducing the difficulty of disassembly and maintenance; a consignment platform is provided on the stamping workbench 1, and the consignment platform can be moved to the vicinity of the guide rail 4 under the drive of the stamping workbench 1, and the disassembly of the manipulator arm 2 is completed. After that, the bracket 6 is rotated so that the manipulator arm 2 on the bracket 6 rotates to a direction parallel to the guide rail 4 and moves along the guide rail 4 to the shipping platform. The telescopic frames 9 on multiple shipping platforms slide horizontally, so that the arm receiving beam 11 at the end of the telescopic frame 9 moves to the bottom of the manipulator arm 2 and supports the support column 10 to the ground. Thereafter, the lifting column 5 drives the bracket 6 and the manipulator arm 2 to descend, so that the manipulator arm 2 contacts the arm receiving beam 11 below. Thereafter, the bracket 6 and the arm supporting beam 7 continue to descend until they are separated from the manipulator arm 2, thereby achieving effective transfer of the manipulator arm 2. Thereafter, the telescopic frame 9 slides in the opposite direction to the fixed frame 8, and the stamping workbench 1 is used to drive the manipulator arm 2 to move to the outside of the stamping line, making the disassembly and transportation process of the manipulator arm 2 more convenient and quick, greatly reducing the difficulty of disassembly and maintenance, and improving the efficiency and convenience of disassembly and maintenance.

Claims

1. A disassembly and transfer device for a double-arm manipulator of a stamping line, comprising a plurality of consignment platforms arranged on a stamping workbench (1) and a transfer trolley (3) capable of entering and exiting under the manipulator's upper arm (2), characterized in that: A guide rail (4) is provided below the manipulator arm (2), the transfer trolley (3) is slidably connected to the guide rail (4), a lifting column (5) is provided on the transfer trolley (3), the top of the lifting column (5) is rotatably connected to a bracket (6), and both ends of the bracket (6) are symmetrically provided with a large arm support beam (7) used in conjunction with the manipulator arm (2), the shipping platform includes a fixed frame (8), a telescopic frame (9) is slidably connected to the fixed frame (8) in the transverse direction, a support column (10) is provided at the end of the telescopic frame (9), and a large arm receiving beam (11) used in conjunction with the manipulator arm (2) is provided at a position above the support column (10) on the telescopic frame (9).

2. The disassembly and transfer device for a double-arm manipulator of a stamping line according to claim 1, characterized in that: The longitudinal section of the upper arm support beam (7) is Y-shaped, and the manipulator upper arm (2) is engaged at the top of the Y-shape.

3. The disassembly and transfer device for a double-arm manipulator of a stamping line according to claim 1, characterized in that: The side of the transfer trolley (3) is provided with a plurality of lifting legs (12).

4. The disassembly and transfer device for a double-arm manipulator of a stamping line according to claim 1, characterized in that: A plurality of supporting oblique rods (13) are provided between the side surfaces of the lifting column (5) and the transfer trolley (3).

5. The disassembly and transfer device for a double-arm manipulator of a stamping line according to claim 1, characterized in that: The fixed frame (8) is provided with a slide groove (14), and the telescopic frame (9) is provided with a plurality of rollers (15), and the rollers (15) are rollingly connected in the slide groove (14).

6. The disassembly and transfer device for a double-arm manipulator of a stamping line according to claim 1, characterized in that: The longitudinal section of the upper arm receiving beam (11) is U-shaped and engages with the upper arm (2) of the manipulator.

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