Turnover mechanical arm

Abstract

The utility model relates to the technical field of workpiece overturning, and provides an overturning mechanical arm which comprises an overturning arm arranged on a multi-axis robot, an overturning mechanism used for driving the overturning arm to overturn is arranged on the multi-axis robot, a working arm is arranged on the multi-axis robot, and the overturning arm and the working arm are arranged in the front-back opposite direction or the left-right opposite direction in the initial position state. The working arm and the overturning arm are each provided with a grabbing mechanism used for grabbing a workpiece, the workpiece is placed on the station, the multi-axis robot drives the working arm to move to the station and grab the workpiece, the overturning arm overturns towards the direction of the working arm and grabs the workpiece of the working arm, and the overturning arm grabs the workpiece to reset and conveys the workpiece to the next station. Therefore, the workpiece can be overturned and conveyed. The turnover mechanical arm provided by the utility model is suitable for full-automatic stamping, working procedures of polishing two surfaces of a workpiece and the like.

Description

Technical Field

[0001] This utility model relates to the field of workpiece flipping and conveying technology, specifically to a flipping robotic arm. Background Technology

[0002] Existing punching equipment uses conveyor rollers to transport workpieces to the punching station. For example, Chinese Patent No. ZL202010408389.9 discloses a press with a feeding device, which includes a crankshaft mounted on the press, a transmission disc mounted on the crankshaft, and a feeding assembly consisting of an adjusting screw, a ball joint transmission pair, an overrunning clutch, a ratchet feeding pair, and a blank leveling roller on one side of the press's working platform. The feeding assembly includes a feeding box and a leveling component rotatably mounted inside the feeding box. The leveling component includes a moving part and a driven moving part. The moving part and the transmission disc are connected for transmission, so that the transmission disc drives the moving part to rotate. The material to be punched enters the rotating leveling component and is laterally fed into the die on the press's working platform as the crankshaft rotates. This lateral feed displacement is controlled by the number of rotations of the transmission disc, and the material to be punched is leveled by the leveling component before punching. The above-mentioned feeding device is suitable for processing one surface of a workpiece alone. If the first surface of the workpiece is processed and another processing step is required on the other surface, then it is necessary to manually flip the workpiece and place it on another processing station. Utility Model Content

[0003] This invention proposes a flipping robotic arm. A workpiece is leveled by two upper and lower conveying rollers and then transported to the first stamping station for processing the first surface. After the first surface is processed, a multi-axis robot drives the working arm to the first stamping station and grasps the workpiece. The multi-axis robot then moves the working arm to the corresponding position to allow the flipping arm to flip and grasp the workpiece. The flipping arm flips towards the working arm and grasps the workpiece. After grasping the bottom of the workpiece, it flips and resets to bring the bottom of the workpiece directly upwards. The multi-axis robot then drives the flipping arm to the second stamping station. When the flipping arm reaches the corresponding position, it releases the workpiece. After the workpiece is sensed by a detector on the processing table, the positioning mechanism of the processing table (such as a cylinder and a positioning block on the cylinder piston rod) clamps the workpiece, and then the processing of the second surface begins.

[0004] A flipping robotic arm designed for this purpose includes a flipping arm mounted on a multi-axis robot. The multi-axis robot is equipped with a flipping mechanism for driving the flipping arm to flip. The multi-axis robot is also equipped with a working arm. The flipping arm and the working arm are initially positioned facing each other in a front-to-back or left-to-right orientation. Both the working arm and the flipping arm are equipped with a gripping mechanism for grasping workpieces. When a workpiece is placed on a workstation, the multi-axis robot drives the working arm to move to the workstation and grasp the workpiece. The flipping arm flips towards the working arm and grasps the workpiece from the working arm. The flipping arm then resets its gripped workpiece and transports it to the next workstation, thereby realizing the flipping and transport of the workpiece.

[0005] The multi-axis robot is equipped with an extension arm, and a connecting component is provided at the bottom of the extension arm. The extension arm is fixedly mounted on the connecting component.

[0006] The connecting assembly is provided with a fixing plate for mounting and fixing the flipping mechanism; the central axis of the connecting assembly and the flipping axis of the flipping arm intersect vertically.

[0007] The connecting component includes a connecting shaft that extends downward from the bottom of the extension arm.

[0008] The connecting assembly also includes a connecting plate, which has a fixed plate for the flipping mechanism. The flipping arm and the working arm are arranged opposite each other with a vertical offset. The combined thickness of the connecting assembly and the fixed plate forms a length L. The position where the flipping arm flips towards the working arm and grabs the workpiece corresponds to the set length L. The connecting shaft is a fixed length connecting shaft. A telescopic shaft is provided between the fixed plate and the connecting plate to adjust the length L according to the thickness of the workpiece, thereby adjusting the vertical position between the working arm and the flipping arm. The telescopic shaft includes a fixed shaft and a movable shaft that telescopically moves within the fixed shaft. A locking element is provided between the fixed shaft and the movable shaft, and the movable shaft is fixed to the fixed shaft by the locking force of the locking element.

[0009] The lever arm length of the working arm is equal to the lever arm length of the tilting arm.

[0010] The multi-axis robot can be a three-axis robot, a four-axis robot, a five-axis robot, or a six-axis robot.

[0011] The multi-axis robot includes a base and a robotic arm assembly. One of the robotic arms in the robotic arm assembly is connected to the base, and a rotating mechanism is provided between the two at the connection point. The rotating mechanism drives the robotic arm assembly to rotate on the base.

[0012] The rotating mechanism includes a driven gear connected to the end of the robotic arm assembly and a driving gear that meshes with the driven gear for transmission. A drive motor connected to the driving gear is provided in the base. The drive motor drives the driving gear to rotate, and the driven gear follows the driving gear to rotate and drives the robotic arm assembly to rotate.

[0013] The gripping mechanism includes a connector, with one end of the working arm connected to the flipping arm and the corresponding end of the connector; a gripper or vacuum suction cup for gripping the workpiece is provided below the connector.

[0014] The flipping mechanism includes a flipping cylinder that is connected to the flipping arm for transmission, or the flipping mechanism includes a flipping motor. The motor shaft of the flipping motor is provided with a gearbox. The gearbox is provided with a first transmission gear and a second transmission gear that meshes with the first transmission gear. The motor shaft is inserted into the first transmission gear, and the end of the flipping arm is inserted into the second transmission gear. The motor drives the first transmission gear to rotate, and the second transmission gear follows the first transmission gear to rotate and drives the flipping arm to rotate.

[0015] The beneficial technical effects of this utility model are as follows:

[0016] The workpiece can be leveled by two upper and lower conveyor rollers and then transported to the first stamping station for processing the first surface of the workpiece. After the first surface of the workpiece is processed, the multi-axis robot drives the working arm to move to the first stamping station and grab the workpiece. The multi-axis robot drives the working arm to move to the corresponding position so that the flipping arm can flip and grab the workpiece. The flipping arm flips towards the working arm and grabs the workpiece from the working arm. After the flipping arm grabs the bottom of the workpiece, it flips and resets again to flip the bottom of the workpiece to the top. The multi-axis robot then drives the flipping arm to move to the second stamping station. When the flipping arm moves to the corresponding position, the flipping arm releases the workpiece. After the workpiece is sensed by the detector on the processing table, the positioning mechanism of the processing table (such as a cylinder and a positioning block set on the piston rod of the cylinder) clamps the workpiece, and then the processing of the second surface of the workpiece begins.

[0017] This novel flipping robotic arm is suitable for fully automated stamping processes and for grinding two surfaces of workpieces (replacing the stamping station with a grinding station). It has a wide range of applicable scenarios. Attached Figure Description

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] Figure 1 This is a three-dimensional structural diagram of the working arm of a multi-axis robot grasping a workpiece according to an embodiment of the present invention.

[0020] Figure 2 This is a three-dimensional structural diagram of a multi-axis robot in one embodiment of the present invention, showing the flipping arm flipping towards the working arm.

[0021] Figure 3 This is a three-dimensional structural diagram of a multi-axis robot according to an embodiment of the present invention, showing the flipping arm of the robot grasping the workpiece of the working arm and then resetting to its initial position.

[0022] Figure 4 This is a schematic diagram of the structure of a multi-axis robot according to an embodiment of the present invention, showing the rotating arm moving towards the next workstation.

[0023] Figure 5 This is a three-dimensional structural diagram of a multi-axis robot in two stamping processing stations according to an embodiment of the present invention.

[0024] Figure 6 This is a schematic diagram of the meshing structure of the driven gear and the driving gear in one embodiment of the present invention.

[0025] Figure 7 This is a schematic diagram of the structure of a telescopic shaft according to an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. In order to make the above-mentioned objects, features and advantages of the present application more apparent and understandable, many specific details are set forth in the following description in order to provide a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0027] See Figures 1-7 A flipping robotic arm includes a flipping arm 2 mounted on a multi-axis robot 1. The multi-axis robot 1 is equipped with a flipping mechanism 4 for driving the flipping arm 2 to flip. The multi-axis robot 1 is also equipped with a working arm 3. The flipping arm 2 and the working arm 3 are initially positioned facing each other in a front-to-back or left-to-right orientation. Both the working arm 3 and the flipping arm 2 are equipped with a gripping mechanism 6 for gripping a workpiece 5. When the workpiece 5 is placed on a workstation, the multi-axis robot 1 drives the working arm 3 to move to the workstation and grip the workpiece 5. The flipping arm 2 flips towards the working arm 3 and grips the workpiece 5. The flipping arm 2 then resets the gripped workpiece 5 and transports it to the next workstation, thereby realizing the flipping and transport of the workpiece 5.

[0028] Workpiece 5 can be leveled by two upper and lower conveying rollers and then transported to the first stamping station for processing the first surface of workpiece 5. After the first surface of workpiece 5 is processed, the multi-axis robot 1 drives the working arm 3 to move to the first stamping station and grab workpiece 5. The multi-axis robot 1 drives the working arm 1 to move to the corresponding position, so that the flipping arm 2 can flip and grab workpiece 5 (the motion space setting of the multi-axis robot 1 and the position of the processing mechanism on the corresponding station of the equipment are adjusted according to the site environment). The flipping arm 2 flips towards the working arm 3 and grabs the workpiece 5 from the working arm 3. After the flipping arm 2 grabs the bottom of workpiece 5, it flips and resets again to flip the bottom of workpiece 5 to the top. The multi-axis robot 1 then drives the flipping arm 2 to move towards the second stamping station. When the flipping arm 2 moves to the corresponding position, the flipping arm 2 releases the workpiece. After the workpiece is sensed by the detector on the processing table, the positioning mechanism of the processing table (such as a cylinder and a positioning block set on the piston rod of the cylinder) clamps the workpiece, and then the processing of the second surface of the workpiece begins.

[0029] In this embodiment, the first stamping station and the second stamping station are composed of two stamping machines 21 arranged at intervals.

[0030] The multi-axis robot 1 is equipped with an extension arm 7, and a connecting component 8 is provided at the bottom of the extension arm 7. The working arm 3 is fixedly mounted on the connecting component 8.

[0031] The connecting component 8 is provided with a fixing plate 9 for mounting and fixing the flipping mechanism 4; the central axis of the connecting component 8 and the flipping axis of the flipping arm 2 intersect vertically to ensure that the flipping arm 2 and the working arm 1 are arranged in a symmetrical configuration with vertical misalignment.

[0032] The connecting component 8 includes a connecting shaft 14, which extends downward from the bottom of the extension arm 7.

[0033] The connecting assembly 8 also includes a connecting plate 15, which has a fixed plate 9 for the flipping mechanism 4. The flipping arm 2 and the working arm 3 are arranged opposite each other with a vertical offset. The combined thickness of the connecting assembly 8 and the fixed plate 9 forms a length L. The position of the flipping arm 2 flipping towards the working arm 3 and grabbing the workpiece of the working arm 3 corresponds to the set length L. The connecting shaft 14 is a connecting shaft of fixed length. A telescopic shaft is provided between the fixed plate 9 and the connecting plate 15 to adjust the length L according to the thickness of the workpiece 5, so as to adjust the vertical position between the working arm 3 and the flipping arm 2. The telescopic shaft includes a fixed shaft 16 and a movable shaft 17 that telescopically moves within the fixed shaft 16. A locking member 18 is provided between the fixed shaft 16 and the movable shaft 17. The movable shaft 17 is fixed to the fixed shaft 16 by the locking force of the locking member 18.

[0034] In this embodiment, the fixed shaft 16 is fixedly connected to the connecting plate 15, and the movable shaft 17 is fixedly connected to the fixed plate 9.

[0035] The lever arm length of the working arm 3 is equal to the lever arm length of the flipping arm 2, ensuring that the flipping arm 2 and the working arm 1 are arranged in a staggered left-right or front-back symmetrical configuration.

[0036] In this embodiment, the locking element 18 is a locking screw. The connecting plate 15 and the connecting shaft 14 are fixedly connected by screws or welding, or the connecting plate 15 and the connecting shaft 14 are made into a whole by metal processing. The connecting plate 15 is L-shaped, and the end of the working arm 3 is provided with a mounting block fixed on the connecting plate 15. The mounting block is fixed on the connecting plate 15 by screws or welding.

[0037] In this embodiment, the connecting shaft 14 is fixed to the extension arm 7 by screws or welding.

[0038] In this embodiment, the lever arm lengths of both the working arm 3 and the tilting arm 2 can be adjusted using a telescopic shaft structure.

[0039] The multi-axis robot 1 can be a three-axis robot, a four-axis robot, a five-axis robot, or a six-axis robot.

[0040] In this embodiment, the multi-axis robot 1 is preferably a six-axis robot. The six-axis robot is an ABB robot, which is existing technology, and its specific structure will not be described in detail here.

[0041] The multi-axis robot 1 includes a base 10 and a robotic arm assembly 11. One of the robotic arms in the robotic arm assembly 11 is connected to the base 10, and a rotating mechanism is provided between the two. The rotating mechanism drives the robotic arm assembly 11 to rotate on the base 10, so that the multi-axis robot 1 can drive the working arm 3 and the flipping arm 2 on the robotic arm assembly 11 to rotate to different positions, thereby realizing the handling and transportation of workpieces.

[0042] The rotating mechanism includes a driven gear 19 connected to the end of the robotic arm assembly 11 and a driving gear 20 that meshes with the driven gear 19 for transmission. The base 10 is equipped with a drive motor that is connected to the driving gear 20 for transmission. The drive motor drives the driving gear 20 to rotate, and the driven gear 19 follows the driving gear 20 to rotate and drives the robotic arm assembly 11 to rotate.

[0043] In this embodiment, the robotic arm assembly 11 has a connecting flange at its end position that is fixedly connected to the driven gear. The base 10 has a mounting cavity for mounting the drive motor, and the drive motor is fixed in the mounting cavity of the base 10 by a bracket.

[0044] The gripping mechanism 6 includes a connector 12, and the working arm 3 is connected to one end of the flipping arm 2 and the corresponding end of the connector 12; a gripper or vacuum suction cup 13 for gripping the workpiece 5 is provided below the connector 12.

[0045] In this embodiment, the connector 12 is provided with an air pipe (not shown in the figure) that communicates with the vacuum suction cup 13. One end of the air pipe is connected to a vacuum pump, which is used to adjust the air pressure of the vacuum suction cup 13 in order to pick up and place the workpiece 5.

[0046] The flipping mechanism 4 includes a flipping cylinder that is connected to the flipping arm 2 in a transmission manner. Alternatively, the flipping mechanism 4 includes a flipping motor. The motor shaft of the flipping motor is provided with a gearbox. The gearbox is provided with a first transmission gear and a second transmission gear that meshes with the first transmission gear. The motor shaft is inserted into the first transmission gear, and the end of the flipping arm 2 is inserted into the second transmission gear. The motor drives the first transmission gear to rotate, and the second transmission gear follows the first transmission gear to rotate and drives the flipping arm 2 to rotate.

[0047] In this embodiment, the flipping mechanism 4 is preferably a flipping cylinder (rotary cylinder). The cylinder body of the flipping cylinder is fixed to the fixing plate 9 by screws.

[0048] In this embodiment, one end of the tilting arm 2 is provided with a mounting block, and the mounting block is provided with a rotating shaft connected to the rotating part of the tilting cylinder. One end of the tilting arm 2 and the mounting block can be made into a whole through metal processing.

[0049] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model shall be included within the protection scope of the present utility model.

[0050] In the above description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0051] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0052] In the foregoing description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to fixed connections using screws, rivets, or welding; detachable connections; or connections formed by metal processing (die casting, deep drawing, lathe machining, etc.) or injection molding; they can also be mechanical or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] In the above description of this application, unless otherwise expressly specified and limited, the use of terms such as "above" or "below" the second feature indicates that the first and second features are in direct contact, or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

Claims

1. A flipping robotic arm, characterized in that: The system includes a flipping arm (2) on a multi-axis robot (1), a flipping mechanism (4) on the multi-axis robot (1) for driving the flipping arm (2) to flip, a working arm (3) on the multi-axis robot (1), and the flipping arm (2) and the working arm (3) are arranged in front-to-back or left-to-right orientation in the initial position state; both the working arm (3) and the flipping arm (2) are equipped with a gripping mechanism (6) for gripping the workpiece (5). The workpiece (5) is placed on the work station, the multi-axis robot (1) drives the working arm (3) to move to the work station and grips the workpiece (5), the flipping arm (2) flips towards the working arm (3) and grips the workpiece (5) of the working arm (3), the flipping arm (2) grips the workpiece (5), resets the workpiece (5) and transports the workpiece (5) to the next work station, so as to realize the flipping and transport of the workpiece (5).

2. The flipping robotic arm according to claim 1, characterized in that: The multi-axis robot (1) is provided with an extension arm (7), and a connecting component (8) is provided at the bottom of the extension arm (7). The working arm (3) is fixedly mounted on the connecting component (8).

3. The flipping robotic arm according to claim 2, characterized in that: The connecting assembly (8) is provided with a fixing plate (9) for installing and fixing the flipping mechanism (4); the central axis of the connecting assembly (8) and the flipping axis of the flipping arm (2) intersect vertically.

4. The flipping robotic arm according to claim 2, characterized in that: The connecting component (8) includes a connecting shaft (14) which extends downward from the bottom of the extension arm (7).

5. The flipping robotic arm according to claim 4, characterized in that: The connecting assembly (8) also includes a connecting plate (15), which is provided with a fixed plate (9) for the flipping mechanism (4). The flipping arm (2) and the working arm (3) are arranged opposite each other with an upper and lower offset. The thickness of the connecting assembly (8) and the fixed plate (9) together form a length L. The position of the flipping arm (2) flipping towards the working arm (3) and grabbing the workpiece of the working arm (3) corresponds to the set length of the length L. The connecting shaft (14) is a fixed length connecting shaft. A telescopic shaft is provided between the fixed plate (9) and the connecting plate (15) to adjust the length L according to the thickness of the workpiece (5) so as to adjust the upper and lower position between the working arm (3) and the flipping arm (2). The telescopic shaft includes a fixed shaft (16) and a movable shaft (17) that telescopically moves within the fixed shaft (16). A locking member (18) is provided between the fixed shaft (16) and the movable shaft (17). The movable shaft (17) is fixed to the fixed shaft (16) by the locking force of the locking member (18).

6. The flipping robotic arm according to claim 1, characterized in that: The lever arm length of the working arm (3) is equal to the lever arm length of the flipping arm (2).

7. The flipping robotic arm according to claim 1, characterized in that: The multi-axis robot (1) is a three-axis robot, a four-axis robot, a five-axis robot, or a six-axis robot.

8. The flipping robotic arm according to claim 1, characterized in that: The multi-axis robot (1) includes a base (10) and a robotic arm assembly (11). One of the robotic arms of the robotic arm assembly (11) is connected to the base (10), and a rotating mechanism is provided between the two. The rotating mechanism drives the robotic arm assembly (11) to rotate on the base (10). The rotating mechanism includes a driven gear (19) connected to the end of the robotic arm assembly (11) and an active gear (20) meshing with the driven gear (19). The base (10) is provided with a drive motor that is connected to the active gear (20). The drive motor drives the active gear (20) to rotate, and the driven gear (19) follows the active gear (20) to rotate and drives the robotic arm assembly (11) to rotate.

9. The flipping robotic arm according to claim 1, characterized in that: The gripping mechanism (6) includes a connector (12), and the working arm (3) is connected to one end of the flipping arm (2) and the corresponding end of the connector (12); a gripper or vacuum suction cup (13) for gripping the workpiece (5) is provided below the connector (12).

10. The flipping robotic arm according to claim 1, characterized in that: The flipping mechanism (4) includes a flipping cylinder that is connected to the flipping arm (2) in a transmission, or the flipping mechanism (4) includes a flipping motor. The motor shaft of the flipping motor is provided with a gearbox. The gearbox is provided with a first transmission gear and a second transmission gear that meshes with the first transmission gear. The motor shaft is inserted into the first transmission gear, and the end of the flipping arm (2) is inserted into the second transmission gear. The motor drives the first transmission gear to rotate, and the second transmission gear follows the first transmission gear to rotate and drives the flipping arm (2) to rotate.

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