Cross arm manipulator

Abstract

The utility model belongs to the technical field of manipulators, and discloses a cross arm manipulator, which comprises a working table with a length direction, a servo transfer mechanism, a cross arm, a cross arm, a cross arm, a cross arm, a cross arm, a cross arm, a cross arm, a cross arm and a cross arm mechanism, and is characterized in that the servo transfer mechanism is mounted on the table top of the working table, and the free end of the servo transfer mechanism extends or shortens along the length direction; the air cylinder transferring mechanism is installed at the free end of the servo transferring mechanism. The utility model aims to enable the clamping jaw mechanism to extend into a die cavity through a water gap to clamp a product through mutual assistance of the servo transfer mechanism and the air cylinder transfer mechanism; firstly, a servo transferring mechanism is driven to enable a sliding block, a first connecting block and a connecting column to move in the length direction in sequence, after the connecting column moves to a certain position, a second telescopic air cylinder is driven, the free end of the second telescopic air cylinder, a sliding column and a second connecting block are driven to move in the length direction in sequence, and therefore the clamping mechanism is lengthened twice in the length direction; in this way, the transferring distance is adjusted, so that products in the mold can be better taken through a water gap.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, specifically relating to a horizontal arm robotic arm. Background Technology

[0002] Nowadays, the injection molding industry is becoming increasingly complex, and many products undergo secondary injection molding within the mold. Therefore, robotic arms are needed to pick up or place products between the primary and secondary injection molding processes in order to adjust the injection position.

[0003] Currently, the robotic arm used is a commercially available three-axis robotic arm, that is, the XYZ axis three-axis linkage is used to pick up or place the sprue.

[0004] However, when encountering such Figure 1 When removing the sprue from the mold shown, the maximum mold opening distance is limited to only 115mm, and the sprue 10 cannot fall freely but will be caught by the steel material 11, which will cause the mold to be pressed. If a regular three-axis robot is used, it is not possible to directly remove the sprue 10 from the mold because the sprue 10 will interfere with the steel material 11. Utility Model Content

[0005] In view of the shortcomings of the existing technology, this utility model provides a horizontal arm robot, which is designed according to the characteristics of the injection molding industry and is of great significance for complex two-color mold products and sprue removal.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A horizontal-arm robotic arm, comprising:

[0008] The worktable has a length direction.

[0009] It also includes,

[0010] A servo transfer mechanism is mounted on the table surface of the worktable, and the free end of the servo transfer mechanism extends or shortens along the length direction;

[0011] A cylinder transfer mechanism is installed on the free end of the servo transfer mechanism, and the free end of the cylinder transfer mechanism extends or shortens along the length direction;

[0012] A flipping mechanism is installed on the free end of the cylinder transfer mechanism, and the movable end of the flipping mechanism is rotatable relative to the free end of the cylinder transfer mechanism.

[0013] A clamping mechanism is installed on the movable end of the flipping mechanism.

[0014] Preferably, the horizontal arm manipulator mechanism further includes,

[0015] The fixed end of the lifting mechanism is installed on the upper surface of the workbench, and the movable end is connected with the fixed end of the servo transfer mechanism.

[0016] Further, the lifting mechanism comprises,

[0017] a guide column, which is fixedly installed on the upper surface of the workbench in the vertical direction,

[0018] a lifting plate, which is slidingly installed on the guide column,

[0019] and the upper surface of the workbench is further provided with a hand-operated lifting support, and the lifting end of the hand-operated lifting support is connected with the lifting plate.

[0020] Preferably, the horizontal arm mechanical hand mechanism further comprises,

[0021] Preferably, the movable end of the turnover mechanism is provided with a first mounting plate, and the first mounting plate extends in the length direction.

[0022] Further, the turnover mechanism is a rotary air cylinder, the fixed end of the rotary air cylinder is installed on the free end of the air cylinder transfer mechanism, the free end of the rotary air cylinder can rotate relative to the air cylinder transfer mechanism, a fixed plate is installed on the free end of the rotary air cylinder, a first mounting plate is installed on the fixed plate, and the first mounting plate is arranged in the length direction.

[0023] Preferably, the horizontal arm mechanical hand mechanism further comprises,

[0024] a variable distance mechanism, which is installed on the first mounting plate, and the movable end of the variable distance mechanism is provided with a second mounting plate, the second mounting plate is slidingly installed on the first mounting plate, the fixed end of the clamping mechanism is fixedly installed on the upper surface of the second mounting plate, and the free end of the clamping mechanism extends out of the first mounting plate.

[0025] Further, the variable distance mechanism comprises,

[0026] a first telescopic air cylinder, the fixed end of which is fixed on the first mounting plate, and the free end of which extends in the length direction,

[0027] a movable plate, one end of which is fixed with the free end of the first telescopic air cylinder,

[0028] two sliding openings, each of which is formed in the movable plate,

[0029] two second mounting plates, each of which has one end slidingly installed in the sliding opening, and the two second mounting plates are slidingly installed in parallel on the first mounting plate.

[0030] Preferably, the clamping mechanism comprises a clamping jaw cylinder and a clamping piece, the fixed end of the clamping jaw cylinder is fixedly installed on the second mounting plate, and the free end of the clamping jaw cylinder extends in a direction perpendicular to the length direction, and the clamping piece is installed on the free end of the clamping jaw cylinder.

[0031] Preferably, the servo transfer mechanism comprises,

[0032] a servo module installed on the lifting plate,

[0033] a main sliding block movably installed on the servo module,

[0034] a first connecting block fixedly installed on the main sliding block.

[0035] Preferably, the cylinder transfer mechanism comprises,

[0036] a sliding plate installed on the first connecting block,

[0037] a sliding seat fixedly installed on the sliding plate,

[0038] a connecting column fixed on the sliding seat,

[0039] a first fixed plate installed on the connecting column,

[0040] a second telescopic cylinder installed on the first fixed plate,

[0041] a second connecting block, one end of which is fixed with the output end of the second telescopic cylinder, and the other end is connected with the turnover mechanism.

[0042] Further, the fixed end of the second telescopic cylinder is fixed on the sliding plate through a fixing seat close to one side of the free end of the second telescopic cylinder;

[0043] The first fixed plate is further provided with a limiting block, the limiting block extends along the length direction, and protrudes from two faces of the first fixed plate corresponding to the length direction, and the first fixed plate is limited after moving through the limiting block.

[0044] Compared with the prior art, the utility model has the beneficial effects that:

[0045] 1. The utility model provides a kind of workbench, workbench has length direction, comprising: servo transfer mechanism, it is installed on the table top of workbench, and the free end of servo transfer mechanism extends or shortens along length direction;Cylinder transfer mechanism, it is installed on the free end of servo transfer mechanism, and the free end of cylinder transfer mechanism extends or shortens along length direction;Overturning mechanism, it is installed on the free end of cylinder transfer mechanism, and the movable end of overturning mechanism is rotatable relative to the free end of cylinder transfer mechanism;Clamping mechanism, it is installed on the movable end of overturning mechanism;It is through the mutual assistance of the servo transfer mechanism and cylinder transfer mechanism, and by overturning of overturning mechanism, so that the claw mechanism can enter mould and clamp water gap, so that the situation that the water gap is free to fall from mould and hang on steel material can be avoided, in addition, it is also replaced with the mode that three-axis manipulator cannot take water gap in mould, that is, avoid the situation that water gap and steel material interfere;Specifically: first drive servo transfer mechanism, make main sliding block move along length direction under the drive of the servo transfer mechanism, so that first connecting block moves along length direction, so that sliding plate moves along length direction, so that sliding seat moves along length direction with sliding plate, after sliding seat moves to predetermined distance, drive second telescopic cylinder again, and its free end moves along length direction and drives connecting column to move along length direction, so that four connecting columns move along length direction together under the condition that second fixed plate connects four connecting columns, so that second connecting block moves along length direction, so that clamping mechanism experiences two length direction extensions in length direction, to adjust transfer distance, drive the overturning mechanism again, so that the clamping mechanism can better take the product in mould through water gap.

[0046] 2. The utility model also includes lifting mechanism, its fixed end is installed on the upper surface of workbench, and its movable end is connected with the fixed end of servo transfer mechanism, to realize the adjustment of the whole height of the device by the lifting mechanism, specifically: rotate hand wheel on hand-operated lifting support, make lifting end on hand-operated lifting support start lifting, so as to drive lifting plate to lift in vertical direction, to drive the whole device to lift in vertical direction, so as to realize the purpose of adjusting overall height, to meet the needs of different height taking.

[0047] 3. Because the movable end of the turnover mechanism in the utility model is provided with the first mounting plate, the first mounting plate extends along the length direction, the turnover mechanism is a rotary cylinder, the fixed end of the rotary cylinder is installed on the free end of the cylinder transfer mechanism, the free end of the rotary cylinder can rotate relative to the cylinder transfer mechanism, the fixed plate is installed on the free end of the rotary cylinder, the first mounting plate is installed on the fixed plate, and the first mounting plate is arranged along the length direction, the purpose is to drive the turnover device, i.e. the rotary cylinder, to make the free end of the rotary cylinder rotate, so that the clamping mechanism rotates, and the rotation range realized in the embodiment is set according to the actual product taking needs in the mold.

[0048] 4. Because the variable distance mechanism is further arranged in the utility model, is installed on the first mounting plate, and the movable end is provided with the second mounting plate, the second mounting plate is slidingly installed on the first mounting plate, the fixed end of the clamping mechanism is fixedly installed on the upper surface of the second mounting plate, the free end of the clamping mechanism extends out of the first mounting plate, the variable distance mechanism comprises a first telescopic cylinder, the fixed end of the first telescopic cylinder is fixed on the first mounting plate, the free end of the first telescopic cylinder extends along the length direction, a movable plate, one end of the movable plate is fixed with the free end of the first telescopic cylinder, two sliding openings are arranged on the movable plate, two second mounting plates, one end of each of the second mounting plates is slidingly installed in the sliding opening, and the two second mounting plates are slidingly installed in parallel on the first mounting plate, the purpose is to drive the first telescopic cylinder to make the free end of the first telescopic cylinder move in the length direction, so that the two second mounting plates can move relative to the first mounting plate in the direction perpendicular to the length direction under the cooperation of the two sliding openings, and the products in the mold cavity can be clamped according to the size and distance of the mold cavity. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a position schematic view of the mold, the steel material and the nozzle in the utility model;

[0050] Figure 2 It is a structure schematic view of the utility model;

[0051] Figure 3 It is a structure schematic view of the combination of the servo transfer mechanism and the cylinder transfer mechanism in the utility model;

[0052] Figure 4 It is an explosion view of the servo transfer mechanism and the sliding plate in the utility model;

[0053] Figure 5 It is an axial side view of the cylinder transfer mechanism in the utility model;

[0054] Figure 6 It is an axial side view of the lifting mechanism in the utility model;

[0055] Figure 7It is the back view of the turnover mechanism, the distance changing mechanism and the clamping mechanism in the utility model;

[0056] Figure 8 It is the front view of the turnover mechanism, the distance changing mechanism and the clamping mechanism in the utility model;

[0057] Figure 9 It is the state schematic view of the utility model using the transverse arm manipulator to clamp the water gap in the mold.

[0058] In the drawing: workbench 1;Servo transfer mechanism 2;Servo module 21;Screw mounting seat 211;Screw 212;Servo motor 213;Servo sliding groove 214;Main sliding block 22;First connecting block 23;Guide rail 24;From sliding block 25;Cylinder transfer mechanism 3;Connecting column 31;Second fixed plate 32;Sliding plate 33;First fixed plate 34;Second telescopic cylinder 35;Second connecting block 36;Sliding seat 37;Fixed seat 38;Limiting block 39;Clamping mechanism 4;Clamping jaw cylinder 41;Clamping piece 42;First mounting plate 5, lifting mechanism 6;Guide column 61;Lifting plate 62;Hand-operated lifting support 63;Distance changing mechanism 7;First telescopic cylinder 71;Movable plate 72;Sliding mouth 73;Second mounting plate 8;Turnover mechanism 9;Water gap 10;Copper column 11, third mounting plate 12. DETAILED DESCRIPTION

[0059] In order to make the technical means, the creation features, the purposes and the effects of the utility model easy to understand, the following embodiments are combined with the drawings to make specific description of the utility model, and it should be explained that the description of these embodiments is used to help understanding the utility model, but does not constitute the limitation of the utility model.

[0060] As shown in Figures 1-9 A transverse arm manipulator, comprising:

[0061] Workbench 1, workbench 1 has length direction,

[0062] Lifting mechanism 6, the fixed end is installed on the upper surface of workbench 1, specifically: lifting mechanism 6 includes guide column 61, is fixedly installed on the upper surface of workbench 1 along the vertical direction, lifting plate 62, is slidingly installed on guide column 61, and the upper surface of workbench 1 is also provided with hand-operated lifting support 63, and the lifting end of hand-operated lifting support 63 is connected with lifting plate 62;Lifting plate 62 is connected with servo transfer mechanism 2;More specifically, in order to ensure the stability of the lifting plate 62 when lifting, two vertical columns 64 are also arranged on the upper surface of the tooling table 1, the vertical column 64 is consistent with the extension direction of the guide column 61, and the lifting plate 62 is also slidingly sleeved on the vertical column 64;

[0063] The servo moving mechanism 2 is installed on the table top of the workbench 1, and the free end of the servo moving mechanism 2 extends or shortens along the length direction; specifically, the servo moving mechanism 2 comprises a servo module 21 installed on a lifting plate 62, a main sliding block 22 movably installed on the servo module 21, and a first connecting block 23 fixedly installed on the main sliding block 22; more specifically, the servo module 21 comprises the following structural components: a screw rod mounting seat 211 installed on the lifting plate 62 and extending along the length direction, a screw rod 212 rotatably sleeved on the screw rod mounting seat 211, a servo motor 213, the fixed end of the servo motor 213 being fixedly installed on the screw rod mounting seat 211, the free end of the servo motor 213 being connected with the end of the screw rod 212, and the screw rod mounting seat 211 being provided with a servo sliding groove 214, the main sliding block 22 being threadedly sleeved on the screw rod 212, and the main sliding block 22 also being slidably sleeved on the servo sliding groove 214;

[0064] The lifting plate 62 is also provided with a guide rail 24 extending along the length direction, and a slave sliding block 25 is arranged on the guide rail 24, and the first connecting block 23 is also installed on the slave sliding block 25;

[0065] The cylinder moving mechanism 3 is installed on the free end of the servo moving mechanism 2, and the free end of the cylinder moving mechanism 3 extends or shortens along the length direction; specifically, the cylinder moving mechanism 3 comprises a sliding plate 33 installed on the first connecting block 23, a sliding seat 37 fixedly installed on the sliding plate 33, and a connecting column 31 inserted into the sliding seat 37;

[0066] The connecting column 31 is provided with a first fixed plate 34, the second telescopic cylinder 35 is installed on the first fixed plate 34, the second connecting block 36 is fixed at one end of the free end of the second telescopic cylinder 35 and connected at the other end with the overturning mechanism 9, the fixed end of the second telescopic cylinder 35 is fixed on the sliding plate 33 through a fixed seat 38 close to the side of the free end, the first fixed plate 34 is also provided with a limiting block 39 extending along the length direction and protruding from the two faces of the first fixed plate 34 corresponding in the length direction, and the first fixed plate 34 is limited after moving through the limiting block 39 (mainly contacting one end of the lifting plate 62 corresponding to the first fixed plate 34), it should be noted that the number of the connecting column 31 in the present scheme is four, and the four connecting columns 31 are arranged in parallel along the length direction, wherein the four connecting columns 31 are fixedly provided with a second fixed plate 32, and the second fixed plate 32 is located close to the second connecting block 36 and extends along the length direction;

[0067] The turnover mechanism 9 is installed on the free end of the cylinder moving mechanism 3, the movable end of the turnover mechanism 9 is rotatable relative to the free end of the cylinder moving mechanism 3, and the movable end of the turnover mechanism 9 is installed with the first mounting plate 5 extending along the length direction; specifically, the turnover mechanism 9 is a rotary cylinder, the fixed end of the rotary cylinder is installed on the third mounting plate 12 connected by the second connecting block 36, and the free end of the rotary cylinder is rotatable relative to the cylinder moving mechanism 3; the fixed plate is installed on the free end of the rotary cylinder, the first mounting plate 5 is installed on the fixed plate, and the first mounting plate 5 is arranged along the length direction;

[0068] The pitch changing mechanism 7 is installed on the first mounting plate 5, and the movable end of the pitch changing mechanism 7 is installed with the second mounting plate 8, the second mounting plate 8 is slidingly installed on the first mounting plate 5, the fixed end of the clamping mechanism 4 is fixedly installed on the upper surface of the second mounting plate 8, and the free end of the clamping mechanism 4 extends out of the first mounting plate 5; specifically, the pitch changing mechanism 7 comprises a first telescopic cylinder 71, the fixed end of the first telescopic cylinder 71 is fixed on the first mounting plate 5, the free end of the first telescopic cylinder 71 extends along the length direction, a movable plate 72, one end of the movable plate 72 is fixed with the free end of the first telescopic cylinder 71, two sliding openings 73, the two sliding openings 73 are both arranged on the movable plate 72, two second mounting plates 8, one end of each of the two second mounting plates 8 is slidingly installed in the sliding opening 73, and the two second mounting plates 8 are slidingly installed in parallel on the first mounting plate 5; more specifically, the two sliding openings 73 are symmetrical relative to the free end of the first telescopic cylinder 71, and the two sliding openings 73 are arranged in an inclined manner on the movable plate 72, in addition, in order to enable the second mounting plate 8 to slide on the first mounting plate 5, an inclined surface is arranged on the movable plate 72 to avoid the second mounting plate 8 being blocked when sliding on the first mounting plate 5; specifically, the distance between each sliding opening 73 and the extension line of the free end of the first telescopic cylinder 71 decreases in the direction from the free end of the first telescopic cylinder 71 to the movable plate 72, and each second mounting plate 8 is rolled in the sliding opening 73 by a roller to realize the movement of the line relative to the first mounting plate 5, so that the clamping mechanisms 4 located on the two second mounting plates 8 are relatively displaced, so that the clamping mechanisms 4 on the second mounting plates 8 at different positions can be used to clamp the required materials or products;

[0069] In addition, each clamping mechanism 4 comprises a clamping jaw cylinder 41 and a clamping piece 42, the fixed end of the clamping jaw cylinder 41 is fixedly installed on the second mounting plate 8, the free end of the clamping jaw cylinder 41 extends in a direction perpendicular to the length direction, and the clamping piece 42 is installed on the free end of the clamping jaw cylinder 41; by operating the clamping jaw cylinder 41, the free end of the clamping jaw cylinder 41 starts to move, so that the clamping piece 42 moves, and finally the clamping piece 42 clamps the required materials or products (wherein the utility model clamps the required materials or products in a specific situation, that is, it has great practical significance for complex two-color mold products and taking out at the water gap position).

[0070] The device carries out the product taking operation in the following manner;

[0071] a. First, drive the servo moving mechanism 2 to move the main slider 22 along the length direction under the driving of the servo moving mechanism 2, so as to move the first connecting block 23 along the length direction, and move the sliding plate 33 along the length direction, and move the sliding seat 37 along the length direction with the sliding plate 33, and then drive the second telescopic cylinder 35 to move the connecting column 31 along the length direction with the free end of the second telescopic cylinder 35, so as to move the four connecting columns 31 together along the length direction under the connection of the second fixed plate 32 with the four connecting columns 31, and move the second connecting block 36 along the length direction, so as to make the clamping mechanism 4 experience twice length direction extension along the length direction, so as to adjust the moving distance, and then drive the turnover mechanism to make the clamping mechanism better take the water port;

[0072] b. The lifting mechanism 6 can be used to adjust the overall height of the device, specifically, rotate the hand wheel on the hand-operated lifting support 63 to start lifting the lifting end on the hand-operated lifting support 63, so as to drive the lifting plate 62 to lift along the vertical direction, so as to drive the whole device to lift along the vertical direction, so as to achieve the purpose of adjusting the overall height, so as to meet the taking needs of different heights;

[0073] c. The turnover device 9 can be driven, that is, the rotary cylinder is driven to rotate the free end of the rotary cylinder, so as to rotate the clamping mechanism 4, and the rotation range in the embodiment is set according to the actual product taking needs in the mold, for example, from 90-180 degrees of turnover range;

[0074] d. Drive the first telescopic cylinder 71 to move the free end of the first telescopic cylinder 71 along the length direction, so as to move the two second mounting plates 8 relative to the first mounting plate 5 along the direction perpendicular to the length direction under the cooperation of the two sliding openings 73, so as to clamp the product in the mold cavity according to the size and distance of the mold cavity.

[0075] It should be noted that the above a-d does not represent steps, but represents a manner, and therefore a-d has no sequence.

[0076] The above embodiment is a preferred case of the utility model, and does not limit the protection scope of the utility model, and various deformations or modifications made by ordinary skilled in the art within the scope of the appended claims without creative labor still belong to the protection scope of the patent.

Claims

1. A cross arm robot comprising a table having a length direction, characterized in that, Also included are: a servo transfer mechanism mounted on the table top of the worktable, and a free end of the servo transfer mechanism extending or shortening along the length direction; a cylinder transfer mechanism mounted on the free end of the servo transfer mechanism, and a free end of the cylinder transfer mechanism extending or shortening along the length direction; a turnover mechanism mounted on the free end of the cylinder transfer mechanism, and a movable end of the turnover mechanism being rotatable relative to the free end of the cylinder transfer mechanism; a gripping mechanism mounted on the movable end of the turnover mechanism.

2. The horizontal arm robot according to claim 1, wherein: the horizontal arm robot further comprises, a lifting mechanism, a fixed end of which is mounted on the upper surface of the worktable, and a movable end of which is connected to the fixed end of the servo transfer mechanism.

3. The horizontal arm robot according to claim 1, wherein: a first mounting plate is mounted on the movable end of the turnover mechanism, and the first mounting plate extends along the length direction.

4. A traverse arm robot as claimed in claim 3, wherein: the turnover mechanism is a rotary cylinder, a fixed end of which is mounted on the free end of the cylinder transfer mechanism, and a free end of which is rotatable relative to the cylinder transfer mechanism; a fixed plate is mounted on the free end of the rotary cylinder, and the first mounting plate is fixedly mounted on the fixed plate, and the first mounting plate is arranged along the length direction.

5. The horizontal arm robot according to claim 4, wherein: the horizontal arm robot further comprises, a variable distance mechanism mounted on the first mounting plate, and a second mounting plate mounted on a movable end of the variable distance mechanism, the second mounting plate being slidingly mounted on the first mounting plate, a fixed end of the gripping mechanism being fixedly mounted on an upper surface of the second mounting plate, and a free end of the gripping mechanism extending out of the first mounting plate.

6. The horizontal arm robot according to claim 5, wherein: the variable distance mechanism comprises, a first telescopic cylinder, a fixed end of which is fixed on the first mounting plate, and a free end of which extends along the length direction, a movable plate, one end of which is fixed to the free end of the first telescopic cylinder, two sliding openings, each of which is formed on the movable plate, two second mounting plates, each of which has one end slidingly mounted in the sliding opening, and the two second mounting plates being slidingly mounted in parallel on the first mounting plate.

Images