Cooperative manipulator

Abstract

The utility model discloses a cooperative manipulator, which relates to the technical field of forging and pressing production and comprises a rotary table rotating horizontally. A supporting base is installed on the rotary table, a first swing arm and a second swing arm are symmetrically arranged on the supporting base in a sliding and penetrating mode, the first swing arm and the second swing arm synchronously and reversely move, a mechanical claw for clamping a workpiece is installed at the tail end of the first swing arm, a limiting frame is arranged at the tail end of the second swing arm, and the limiting frame enables the tail end of the second swing arm to linearly move. The first swing arm and the second swing arm which synchronously and reversely move are symmetrically arranged, the limiting frame enables the tail end of the second swing arm to linearly move, the mechanical claw at the tail end of the first swing arm can linearly move, linear transfer movement of bearing ring blanks is achieved, the swing arms do not need to be driven to stretch out and draw back, and the accuracy of the positions of the blanks can be guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of forging production technology, and in particular to a collaborative robotic arm. Background Technology

[0002] Forging bearing rings is a crucial step in bearing manufacturing. From a process flow perspective, first, suitable cylindrical blanks, such as carbon steel or alloy steel, are prepared and heated in a preheating furnace to 800-1000 degrees Celsius to improve their plasticity and ductility. According to design requirements, the preheated raw material is placed on a forging table, and force is applied using a hydraulic press or forging hammer to plastically deform the material, completing the initial shaping of the outer shape and inner hole.

[0003] Cylindrical blanks require multiple forging processes. During this process, the blank needs to be moved linearly and forged sequentially by multiple forging hammers. Due to the high temperature of the blank, manual operation is inconvenient. Patent CN116329456B (a swing-arm forging robot) and CN215749165U (a four-axis swing-arm forging robot) can move the blank during bearing ring forging. However, because their swing arms are horizontally rotating and swinging structures, while moving the blank linearly, the swing arms also need to extend and retract simultaneously. A dedicated drive device for extending and retracting the swing arms is required, and the extension and retraction movements need to be precisely coordinated with the swinging movements. Utility Model Content

[0004] The purpose of this invention is to solve at least one of the problems in the prior art mentioned above, and to provide a collaborative robot that can move bearing ring blanks linearly using only existing horizontal swing power.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A collaborative robot includes a horizontally rotating turntable; a support base is mounted on the turntable, and a first swing arm and a second swing arm are symmetrically slidably mounted on the support base. The first swing arm and the second swing arm move synchronously in opposite directions. A mechanical claw for gripping a workpiece is mounted at the end of the first swing arm, and a limiting frame is provided at the end of the second swing arm, which causes the end of the second swing arm to move linearly.

[0007] Furthermore, a cabinet supporting the rotation of the turntable is provided on the lower side of the turntable, and the limiting frame is installed on the upper side of the end of the cabinet.

[0008] Furthermore, the limiting frame is provided with a horizontal strip hole, and the end of the second swing arm is provided with an inverted L-shaped guide post. The lower part of the guide post extends into the strip hole, and a roller is provided on the outer side of the lower part of the guide post.

[0009] Further, two coaxial synchronous rotating gears are rotationally installed on the support base, and the first swing arm and the second swing arm are provided with racks respectively engaged with the two gears.

[0010] Further, two perforations are arranged in the support base, and the first swing arm and the second swing arm respectively slide through the two perforations.

[0011] Further, the two gears are respectively located in the two perforations, and the first swing arm and the second swing arm are both provided with through holes, and a side wall in the through hole is provided with the rack; the two gears are respectively located in the through holes of the first swing arm and the second swing arm.

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

[0013] The utility model discloses a bearing ring blank linear transfer device, which comprises a cabinet, a rotating table, a support base, a first swing arm, a second swing arm, a mechanical claw, a limiting frame, a strip-shaped hole, a guide column, a roller, a perforation and a gear. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a first perspective three-dimensional structure schematic view of the utility model.

[0015] Figure 2 It is a second perspective three-dimensional structure schematic view of the utility model.

[0016] Figure 3 It is a second swing arm end structure schematic view of the utility model.

[0017] Figure 4 It is a support base and first swing arm and second swing arm cooperation schematic view of the utility model.

[0018] Figure 5 It is a support base structure schematic view of the utility model.

[0019] Figure 6 It is a first swing arm and second swing arm cooperation first perspective schematic view of the utility model.

[0020] Figure 7 It is a first swing arm and second swing arm cooperation second perspective schematic view of the utility model.

[0021] In the drawing: 1, cabinet;2, rotating table;3, support base;4, first swing arm;5, second swing arm;6, mechanical claw;7, limiting frame;8, strip-shaped hole;9, guide column;10, roller;11, perforation;12, gear;13, through hole;14, rack. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and are not used to limit the utility model, that is, the described examples are only a part of the examples of the utility model, but not all the examples. The components of the utility model embodiments described and shown in the drawings herein can be arranged and designed in various different configurations.

[0023] In the description of the utility model, unless explicitly defined and limited, the terms "mounting", "connection" and "connection" that may appear should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0024] In the description of the utility model, it should be noted that, unless explicitly defined and limited, the term "provided with" that may appear should be understood broadly, for example, the object of "provided with" can be part of the body, or it can be arranged separately from the body and connected to the body, and the connection can be detachable or non-detachable. For those skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0025] The utility model will be further described in detail below in combination with examples.

[0026] The specific embodiments of the collaborative manipulator provided by the utility model are as follows:

[0027] Please refer to Figures 1-7 , the collaborative manipulator comprises a rotary table 2 rotating horizontally; the rotary table 2 is provided with a cabinet 1 supporting the rotary table 2 to rotate, and the four corner portions of the cabinet 1 are each provided with a supporting leg on the lower side; in some examples, the height of the supporting leg can be adjusted, thereby adjusting the height and the level of the cabinet 1.

[0028] The rotary table 2 is provided with a box body on the upper side, and the box body is provided with a supporting seat 3 on one side of the middle portion and is fixed by bolts. The supporting seat 3 is located above the middle portion of the rotary table 2.

[0029] The first swing arm 4 and the second swing arm 5 are symmetrically and slidably arranged on the supporting seat 3, the first swing arm 4 and the second swing arm 5 are parallel, and the first swing arm 4 and the second swing arm 5 move synchronously and reversely; the supporting seat 3 is provided with two through holes 11 on the upper side and the lower side, the first swing arm 4 and the second swing arm 5 respectively slide through the two through holes 11, and the first swing arm 4 and the second swing arm 5 linearly slide along the supporting seat 3.

[0030] Two coaxial synchronous rotating gears 12 are rotatably mounted on the support base 3, vertical shafts are connected to the two gears 12, the shafts of the gears 12 are rotatably connected to the support base 3, and the rotation centers of the gears 12 vertically correspond to the rotation center of the rotary table 2. The first swing arm 4 and the second swing arm 5 are provided with racks 14 respectively engaged with the two gears 12; the racks 14 on the first swing arm 4 and the second swing arm 5 are engaged on different sides of the gears 12.

[0031] The two gears 12 are respectively located in the two through holes 11; the first swing arm 4 and the second swing arm 5 are both provided with through holes 13, only one side wall of the through holes 13 is provided with the racks 14, and the other opposite side wall has a gap with the gears 12, the racks 14 of the first swing arm 4 and the second swing arm 5 are located on different sides of the through holes 13; the two gears 12 are respectively located in the through holes 13 on the first swing arm 4 and the second swing arm 5.

[0032] When the first swing arm 4 slides along the support base 3, the gears 12 rotate, and the rotation of the gears 12 causes the second swing arm 5 to slide in the opposite direction along the support base 3. Conversely, when the second swing arm 5 slides, the gears 12 rotate, and the gears 12 cause the first swing arm 4 to slide in the opposite direction along the support base 3.

[0033] The first swing arm 4 is provided at the end with a mechanical gripper 6 for clamping workpieces, which is used to move the workpiece to correspond to different forging hammers and gradually form the blank through multiple forging processes.

[0034] The second swing arm 5 is provided at the end with a limiting frame 7 for linear movement of the end of the second swing arm 5. The limiting frame 7 is a Z-shaped plate structure, and the lower end of the limiting frame 7 is bolted to the upper side of the end of the cabinet 1.

[0035] The limiting frame 7 is provided with a horizontal strip-shaped hole 8, and the end of the second swing arm 5 is bolted with an inverted L-shaped guide column 9, the lower part of the guide column 9 extends into the strip-shaped hole 8, and the outer side of the lower part of the guide column 9 is provided with a roller 10. The strip-shaped hole 8 allows the guide column 9 to move linearly along the strip-shaped hole 8, and when the guide column 9 is located at the central position of the middle part of the strip-shaped hole 8, the second swing arm 5 is perpendicular to the strip-shaped hole 8.

[0036] In this embodiment, the horizontal distance from the clamping position of the mechanical gripper 6 to the shaft of the gear 12 is equal to the horizontal distance from the center of the roller 10 to the shaft of the gear 12.

[0037] The limiting frame 7 and the guide column 9 are both bolted and installed. In other embodiments, when other workpieces are processed, the workpieces do not need to move linearly, but need to move in a circular or arc shape, the limiting frame 7 and the guide column 9 can be removed, and the first swing arm 4 drives the mechanical gripper 6 to move circularly.

[0038] The bearing ring forging press in the embodiment has four stations, the first station is to place the high-temperature blank on the forging press table, the second station is a first forging press station, the third station is a second forging press station, and the fourth station is a shaped blank falling station; the four stations are located on the same straight line;

[0039] When the rotating table 2 rotates, the first swing arm 4 and the second swing arm 5 are rotated, and due to the angle change of the second swing arm 5, the guide column 9 at the end of the second swing arm 5 moves linearly along the strip-shaped hole 8, so that the second swing arm 5 extends or retracts along the support seat 3; when the second swing arm 5 extends, the first swing arm 4 moves reversely and also extends; when the second swing arm 5 retracts, the first swing arm 4 moves reversely and also retracts. The mechanical claw 6 drives the blank to move linearly, the mechanical claw 6 is opened at the first station, after the high-temperature blank is inside the mechanical claw 6, the mechanical claw 6 is closed to clamp the blank, the mechanical claw 6 drives the blank to move linearly to the second station to be opened, after the first forging press, the clamped blank moves to the third station to be opened, after the second forging press, the clamped blank moves to the fourth station to be opened, and the bearing ring blank shaped at the fourth station slides downward to be collected.

[0040] Finally, it should be noted that the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing detailed description of the present application is made with reference to the foregoing embodiments, for those skilled in the art, it still can be modified without the need for the technical solutions recorded in the foregoing embodiments to pay creative labor, or for equivalent replacement of some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A cooperative robot comprising a horizontal rotating turret (2); characterized in that: The support seat (3) is installed on the rotating platform (2), the first swing arm (4) and the second swing arm (5) are symmetrically slid on the support seat (3), the first swing arm (4) and the second swing arm (5) move synchronously and reversely, the mechanical claw (6) for clamping workpieces is installed at the end of the first swing arm (4), the limiting frame (7) is arranged at the end of the second swing arm (5), and the limiting frame (7) enables the end of the second swing arm (5) to move linearly.

2. The cooperative manipulator of claim 1, wherein: The cabinet (1) for supporting the rotating platform (2) to rotate is arranged at the lower side of the rotating platform (2), and the limiting frame (7) is installed on the upper side of the end of the cabinet (1).

3. The cooperative manipulator of claim 1 or 2, wherein: The horizontal strip-shaped hole (8) is arranged on the limiting frame (7), the inverted L-shaped guide column (9) is arranged at the end of the second swing arm (5), the lower part of the guide column (9) extends into the strip-shaped hole (8), and the outer side of the lower part of the guide column (9) is provided with the roller (10).

4. The cooperative manipulator of claim 1, wherein: The two coaxial synchronous rotating gears (12) are rotatably installed on the support seat (3), the first swing arm (4) and the second swing arm (5) are provided with the racks (14) engaged with the two gears (12) respectively, and the racks (14) on the first swing arm (4) and the second swing arm (5) are engaged on different sides of the gears (12).

5. The cooperative manipulator of claim 4, wherein: The two perforations (11) are arranged in the support seat (3), and the first swing arm (4) and the second swing arm (5) respectively slide through the two perforations (11).

6. The cooperative manipulator of claim 5, wherein: The two gears (12) are respectively located in the two perforations (11), the through holes (13) are arranged on the first swing arm (4) and the second swing arm (5), and the racks (14) are arranged on one side wall in the through holes (13); and the two gears (12) are respectively located in the through holes (13) on the first swing arm (4) and the second swing arm (5).

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