Double-station manipulator with blowing head

Abstract

The utility model provides a double-station manipulator with an air blowing head, and belongs to the technical field of numerical control machine tools. The problems that when an existing mechanical arm grabs a brake system mounting plate, feeding and discharging stability is poor, and efficiency is low are solved. The double-station manipulator with the blowing head comprises a mechanical arm and a connecting seat connected to one end of the mechanical arm, the connecting seat is rotationally connected with a rotating seat, a driving motor used for driving the rotating seat to rotate is arranged between the connecting seat and the rotating seat, two grabbing mechanisms are arranged on the rotating seat, and the two grabbing mechanisms are arranged on the rotating seat. Each grabbing mechanism comprises a pneumatic finger and a positioning baffle, two clamping fingers of each pneumatic finger are connected with a first clamping jaw and a second clamping jaw respectively, and each positioning baffle is located between the corresponding first clamping jaw and the corresponding second clamping jaw. The two grabbing mechanisms are arranged on the rotating base and can be switched in a trial mode, each grabbing mechanism can grab two workpieces at the same time, efficiency is higher, and grabbing stability and precision are higher.

Description

TECHNICAL FIELD

[0001] The utility model belongs to numerical control machine tool technical field relates to a double position mechanical hand with blow head. BACKGROUND

[0002] With the continuous progress of technology, in the field of machining, more and more enterprises adopt automatic numerical control machine tool to process workpiece. In order to liberate the labor force, at present, the feeding and discharging of numerical control machine tool also gradually uses mechanical hand to replace manual work. Such as Chinese patent application (application number: 202311769173.5 discloses a truss mechanical hand.

[0003] However, due to some workpiece blank structure complex and irregular, such as the brake system mounting plate shown in the drawing Figure 6 If the above mechanical hand is used for clamping, it is easy to cause the slip, lateral turning and even slipping between the workpiece and the mechanical hand, thereby affecting the position accuracy of the workpiece placement, affecting the subsequent machining accuracy and machining efficiency. SUMMARY

[0004] The utility model discloses a double position mechanical hand with blow head, and the technical problem to be solved by the utility model is how to improve the stability and working efficiency of the mechanical hand on the feeding and discharging of brake system mounting plate.

[0005] The utility model discloses a double position mechanical hand with blow head, and the technical problem to be solved by the utility model is how to improve the stability and working efficiency of the mechanical hand on the feeding and discharging of brake system mounting plate.

[0006] The utility model discloses a rotating seat is provided with two catch mechanism to form two stations, and can switch through the drive motor. When using, one catch mechanism first catches workpiece blank, when moving to the upper of the workpiece of processing completion, through rotating the rotating seat, switch to another catch mechanism and catch the workpiece after processing, then rotate the rotating seat again, switch to the catch mechanism that holds the workpiece blank and place the workpiece blank on the processing position, thereby reduce the time interval of feeding and discharging, improve the work efficiency of feeding and discharging. Moreover, through setting the positioning baffle, when the catch mechanism catches the workpiece, the positioning baffle first abuts against the workpiece and makes the workpiece keep the fixed state, then the first jaw and the second jaw on both sides are opposite and draw close and form the grip to the workpiece, thereby guarantee the accuracy of the catch mechanism catching the workpiece. Moreover, the workpiece is fixed to the catch mechanism under the common action of the positioning baffle, the first jaw and the second jaw, and the grip of the catch mechanism to the workpiece is more accurate and more stable.

[0007] In the double-station manipulator with a blowing head described above, the first jaw comprises a connecting arm, the connecting arm is T-shaped, comprising a first connecting section and two second connecting sections respectively located on both sides of the first connecting section, the first connecting section is connected with the pneumatic finger, the lower side of the second connecting section is fixedly connected with a first clamping jaw, the first clamping jaw comprises two first finger portions arranged at intervals, a clearance slot for embedding a part of the workpiece is formed between the first finger portions, the lower end of the finger portion is provided with a jaw portion bent towards the side of the second jaw, the second jaw also comprises a connecting arm, the lower side of the second connecting section of the connecting arm is fixedly connected with a second clamping jaw, and the second clamping jaw is provided with an outwardly protruding abutting portion towards the side of the first jaw. In this way, each catch mechanism can clamp two workpieces at the same time, further improving the work efficiency of feeding and discharging, and the ingenious design of the first jaw and the second jaw can better cooperate with the workpiece, thereby improving the stability when the workpiece is caught.

[0008] In the double-station manipulator with a blowing head described above, the inner side of the two jaw portions of the clamping jaw is provided with an outwardly inclined guide slope, so that the two jaw portions are in a flared shape. The flared design facilitates the embedding of the protruding portion on one side of the workpiece into the clearance slot between the two first finger portions, so that the workpiece and the catch mechanism form an accurate fit.

[0009] In the double-station manipulator with a blowing head described above, the second clamping jaw comprises two second finger portions arranged at intervals, and the abutting portions are two and are respectively located at the lower end of the second finger portions, and each abutting portion is opposite to one of the above-mentioned jaw portions.

[0010] In the double-station manipulator with a blowing head described above, the positioning baffle comprises a connecting portion and positioning portions located on both sides of the connecting portion and used for abutting against the workpiece, and a plurality of mounting holes are formed in the connecting portion. The two positioning portions can cooperate with the two pairs of first clamping jaws and second clamping jaws to catch the workpiece.

[0011] In the double-station mechanical arm with the blowing head, one side of the connecting seat is further provided with a vent hole, and a blowing nozzle is connected to the vent hole, and one end of the blowing nozzle extends along the length direction of the mechanical arm. The blowing nozzle can be used to blow the workpiece after machining, and the workpiece is gripped by the gripping mechanism after the debris generated during machining is cleaned.

[0012] Compared with the prior art, the utility model has the following advantages:

[0013] 1、The utility model discloses a rotating seat is provided with two gripping mechanisms, and is switched through rotating the rotating seat, thereby forming two stations, improve the work efficiency of feeding and discharging, and the gripping mechanism of the utility model can clamp two workpieces simultaneously, further improve the processing efficiency.

[0014] 2、The gripping mechanism of the utility model is positioned through the cooperation of the positioning baffle and the first clamping jaw and the second clamping jaw, can first position the baffle and the workpiece, and then clamp the workpiece through the first clamping jaw and the second clamping jaw, and the first clamping jaw is provided with a recess, can be more adaptive to the appearance of the workpiece, improve the accuracy and stability of clamping the workpiece.

[0015] 3、The connecting seat is provided with a blowing nozzle, and the workpiece is blown before being gripped, the debris generated during machining is cleaned, the workpiece is gripped, the cleanliness of the workpiece is improved, and the stability of gripping is avoided. DRAWINGS

[0016] Figure 1 It is the structure schematic diagram of the utility model;

[0017] Figure 2 It is the structure schematic diagram of the utility model when clamping the workpiece;

[0018] Figure 3 It is the structure schematic diagram of the gripping mechanism;

[0019] Figure 4 It is the structure schematic diagram of the first clamping jaw;

[0020] Figure 5 It is the structure schematic diagram of the second clamping jaw;

[0021] Figure 6 It is the structure schematic diagram of the workpiece;

[0022] Figure 7 It is the structure schematic diagram of the limiting baffle.

[0023] In the figure, 1, mechanical arm; 2, connecting seat; 3, rotating seat; 4, grabbing mechanism; 41, mounting seat; 42, pneumatic finger; 43, first clamping jaw; 4a, connecting arm; 4a1, first connecting section; 4a2, second connecting section; 4a3, mounting groove; 4b, first clamping jaw; 4b1, mounting convex part; 4b2, first finger part; 4b3, jaw part; 4b4, let go of the slot; 44, second clamping jaw; 4c, second clamping jaw; 4c1, second finger part; 4c2, abutting part; 45, positioning baffle; 451, connecting part; 452, abutting part; 5, blowing nozzle; 6, workpiece. DETAILED DESCRIPTION

[0024] The following is a specific embodiment of the present application and further describes the technical scheme of the present application in combination with the drawings, but the present application is not limited to these embodiments.

[0025] A double-station mechanical hand with a blowing head, as shown in Figure 1 , Figure 2 , the present application is mainly used for feeding and discharging when processing brake system mounting plate, including mechanical arm 1, connecting seat 2, rotating seat 3 and two grabbing mechanisms 4, wherein the mechanical arm 1 is in strip shape, which can be vertically arranged on the truss, the connecting seat 2 is fixedly arranged at the lower end of the mechanical arm 1, the connecting seat 2 is rotationally connected with the rotating seat 3, and a driving motor is arranged between the connecting seat 2 and the rotating seat 3 for driving the rotating seat 3 to rotate, the rotating seat 3 has two perpendicular mounting surfaces, and the grabbing mechanism 4 is arranged on each mounting surface, the rotating seat 3 is rotated by the driving motor, so that the two grabbing mechanisms 4 can be switched with each other, and one of the grabbing mechanisms 4 is located on the extension line of the mechanical arm 1.

[0026] Specifically, as shown in Figures 3 to 5As shown, the grabbing mechanism 4 comprises a mounting seat 41, pneumatic fingers 42 and a positioning baffle 45, the mounting seat 41 is fixedly connected with the rotating seat 3, the pneumatic fingers 42 and the positioning baffle 45 are connected with the mounting seat 41, two clamping fingers of the pneumatic fingers 42 are respectively connected with a first clamping jaw 43 and a second clamping jaw 44, so that the first clamping jaw 43 and the second clamping jaw 44 can be close to or away from each other, the positioning baffle 45 is located between the first clamping jaw 43 and the second clamping jaw 44 and can abut against the workpiece 6 when the grabbing mechanism 4 grabs the workpiece 6. In the embodiment, the first clamping jaw 43 comprises a connecting arm 4a and two first clamping jaws 4b, wherein the connecting arm 4a is T-shaped and comprises a first connecting section 4a1 and two second connecting sections 4a2 located on both sides of the first connecting section 4a1, the first connecting section 4a1 is connected with the pneumatic fingers 42 through bolts, the two second connecting sections 4a2 are each provided with a mounting groove 4a3 below, the first clamping jaw 4b is provided with a mounting protrusion 4b1, the shape of the mounting protrusion 4b1 is matched with the mounting groove 4a3 and is embedded in the mounting groove 4a3, and the first clamping jaw 4b is fixed on the second connecting section 4a2 through bolts, the first clamping jaw 4b is further provided with two first fingers 4b2 which are spaced apart, a gap slot 4b4 is formed between the two first fingers 4b2, and the lower end of the first finger 4b2 is further provided with a jaw portion 4b3 which is completely on one side of the second clamping jaw 44, the inner side of each clamping jaw is provided with an outwardly inclined guide slope, the two jaw portions 4b3 are in a flared shape, which is convenient for the protrusion on one side of the workpiece 6 to be embedded in the gap slot 4b4 and convenient for gripping and fixing the workpiece 6. In contrast, the second clamping jaw 44 comprises a connecting arm 4a and two second clamping jaws 4c, wherein the connecting arm 4a has the same structure as the connecting arm 4a of the first clamping jaw 43, the connection structure between the second clamping jaw 4c and the connecting arm 4a is the same as the connection structure between the first clamping jaw 4b and the connecting arm 4a, and the second clamping jaw 4c is provided with an outwardly protruding abutting portion 4524c2 on the side facing the first clamping jaw 43, which is used to abut against the side wall of the workpiece 6 when the workpiece 6 is grabbed. In the embodiment, the second clamping jaw 4c further comprises two second fingers 4c1 which are spaced apart, and the abutting portion 4524c2 on each second clamping jaw 4c is also two, and the two abutting portions 4524c2 are respectively located at the lower end of the second finger 4c1 and are opposite to one of the above-mentioned jaw portions 4b3. Further, as shown, Figure 7 In the embodiment, the positioning baffle 45 comprises a connecting portion 451 and positioning portions located on both sides of the connecting portion 451 and used to abut against the workpiece 6, wherein the connecting portion 451 can be fixed relative to the mounting seat 41 through bolts, and the two positioning portions are respectively located between the two pairs of first clamping jaws 43 and second clamping jaws 44. In this way, the grabbing mechanism 4 in the embodiment can grab two workpieces 6 at the same time, further improving the working efficiency of feeding and discharging.

[0027] Further, as shown, Figure 1As shown, one side of the connecting seat 2 is further provided with a ventilation hole, the ventilation hole is connected with a blowing nozzle 5, one end of the blowing nozzle 5 extends along the length direction of the mechanical arm 1, the blowing nozzle 5 can blow air to the finished workpiece 6, so as to clean the debris on the workpiece 6.

[0028] The working process of the utility model is as follows: firstly, the double-station mechanical arm first grasps two workpiece 6 blanks through one of the grasping mechanisms 4, moves to above the finished workpiece 6, switches to the other empty grasping mechanism 4, then blows and cleans the finished workpiece 6 through the blowing nozzle 5, after cleaning the debris, the mechanical arm 1 moves down, the limiting baffle abuts against the upper end face of the workpiece 6, then the pneumatic finger 42 controls the first clamping jaw 43 and the second clamping jaw 44 to close and fix the two finished workpieces 6, the mechanical arm 1 moves up and switches the grasping mechanism 4, so that the grasping mechanism 4 that grasps the workpiece 6 blank is located at the front end of the mechanical arm 1, then the mechanical arm 1 moves down again and places the two workpiece 6 blanks on the machining platform for machining.

[0029] The specific embodiments described herein are merely illustrative of the spirit of the utility model. Those skilled in the art to which the utility model belongs can make various modifications or supplements to the described specific embodiments or replace them with similar ways, but will not deviate from the spirit of the utility model or exceed the scope defined by the appended claims.

[0030] Although the terms such as mechanical arm 1, connecting seat 2, rotating seat 3, grasping mechanism 4, mounting seat 41, pneumatic finger 42 are used more frequently herein, but the possibility of using other terms is not excluded. Using these terms is only for more conveniently describing and explaining the essence of the utility model; explaining them as any kind of additional limitation is contrary to the spirit of the utility model.

Claims

1. A double-station robot with a blowing head, comprising a robot arm (1) and a connecting seat (2) connected to one end of the robot arm (1), characterized in that, The connecting seat (2) is rotatably connected with a rotating seat (3), a driving motor for driving the rotating seat (3) to rotate is arranged between the connecting seat (2) and the rotating seat (3), and two grabbing mechanisms (4) are arranged on the rotating seat (3).

2. The dual station mechanical hand with air blowing head according to claim 1, characterized in that, The first clamping jaw (43) comprises a connecting arm (4a), the connecting arm (4a) is T-shaped and comprises a first connecting section (4a1) and two second connecting sections (4a2) arranged on the two sides of the first connecting section (4a1), the first connecting section (4a1) is connected with the pneumatic finger (42), and the lower portions of the second connecting sections (4a2) are fixedly connected with first clamping claws (4b). The first clamping claw (4b) comprises two first fingers (4b2) arranged at intervals, a clearance groove (4b4) for partially embedding the workpiece (6) is formed between the first fingers (4b2), the lower ends of the fingers are provided with claw portions (4b3) bent towards the side of the second clamping jaw (44), the second clamping jaw (44) also comprises a connecting arm (4a), the lower portions of the second connecting sections (4a2) of the connecting arm (4a) are fixedly connected with second clamping claws (4c), and the second clamping claws (4c) are provided with outwardly protruding abutting portions (452) (4c2) towards the side of the first clamping jaw (43).

3. The dual station mechanical hand with air blowing head according to claim 2, wherein, The inner sides of the two claw portions (4b3) of the clamping claw are provided with outwardly inclined guide inclined surfaces, so that the two claw portions (4b3) are in a flared shape.

4. The double station mechanical hand with a blowing head according to claim 2 or 3, characterized in that The second clamping claw (4c) comprises two second fingers (4c1) arranged at intervals, and the abutting portions (452) (4c2) are two and are arranged at the lower ends of the second fingers (4c1), respectively. Each abutting portion (452) (4c2) is opposite to one claw portion (4b3).

5. The double station mechanical hand with a blowing head according to claim 1 or 2 or 3, characterized in that, The positioning baffle (45) comprises a connecting portion (451) and positioning portions arranged on the two sides of the connecting portion (451) and used for abutting against the workpiece (6), and a plurality of mounting holes are formed in the connecting portion (451).

6. The double station mechanical hand with a blowing head according to claim 1 or 2 or 3, characterized in that, One end of the air blowing nozzle (5) extends along the length direction of the mechanical arm (1).

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