Double-station grabbing manipulator for processing main box body
By designing a dual-station hand-held robotic arm, the problem of low loading and unloading efficiency of the main box body on the automated line is solved, enabling rapid workpiece conversion on the automated production line and improving production efficiency and equipment safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2026-03-31
AI Technical Summary
When the main body is processed on the automatic line, loading and unloading are done in one go, which takes up a long production cycle and results in low production efficiency.
The dual-station hand-held robot arm, consisting of a mounting flange, a dual-station flange, and a hand-held mechanism, is connected by a positioning pin to enable automatic loading and unloading of workpieces between different processes. It uses pneumatic grippers and clamps for clamping and is equipped with a detection switch and an air blow hole to ensure clamping status and cleanliness.
It enables automatic loading and unloading of workpieces between different processes on the production line, saving production time, improving production efficiency, reducing workpiece manufacturing costs, and maintaining the equipment's compact structure and ease of operation.
Smart Images
Figure CN224059852U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a robotic arm for gripping the main box body, belonging to the field of main box body gripping technology. Background Technology
[0002] Figure 1 The main housing shown is the outer shell of the transmission components on the textile equipment. Its main function is to support and protect the internal transmission components, ensuring the stable operation of the equipment.
[0003] When the main box is processed and produced on the automated line, loading and unloading are relatively frequent. The existing workpiece loading and unloading technology is performed in a single operation, which takes up a long production cycle and results in low production efficiency. Summary of the Invention
[0004] This invention addresses the shortcomings of existing main box gripping technologies by providing a compact, versatile, easy-to-operate, safe, and reliable dual-station hand-held manipulator for main box processing, enabling the loading and unloading of workpieces between different processes on an automated production line.
[0005] The present invention relates to a dual-station hand-held robotic arm for machining the main body of a box, which adopts the following technical solution.
[0006] This dual-station hand-held manipulator includes an installation flange, a dual-station flange, and a hand-held mechanism. The dual-station flange is connected to the installation flange, and two sets of hand-held mechanisms are installed on the dual-station flange.
[0007] The dual-position flange is connected to the mounting flange via a locating pin.
[0008] The mounting flange is a six-axis flange with locating pin holes.
[0009] The dual-station flange is a back-to-back angled flange with two opposing inclined surfaces. A positioning pin is provided on the bottom surface, and a hand gripping mechanism is provided on each inclined surface.
[0010] The gripping mechanism includes a pusher base plate, a pusher cylinder, a pusher plate, a pusher handle, a pneumatic gripper, and a clamp. The pusher base plate is connected to a dual-position flange. The pusher cylinder and the pneumatic gripper are mounted on the pusher base plate. The piston rod of the pusher cylinder is connected to the pusher plate, and the pusher handle is mounted on the pusher plate. The clamp is mounted on the pneumatic gripper. The pneumatic gripper is equipped with a detection switch to detect the clamping and loosening status of the workpiece (main housing). The clamp is machined with a slanted groove and a lower stop edge to facilitate better workpiece clamping. The clamp is equipped with an air blow hole connected to an air blow pipeline, through which air is blown onto the workpiece to keep the workpiece clamping surface clean.
[0011] This utility model adopts a dual-station external clamping method for holding workpieces. It has a compact structure, is easy to operate, and is safe and reliable. It can realize the automatic loading and unloading of workpieces between various processes on the production line, saving production time, improving production efficiency, and has strong versatility, thereby reducing workpiece manufacturing costs. Attached Figure Description
[0012] Figure 1 This is a structural diagram of the main housing.
[0013] Figure 2 This is a three-dimensional structural diagram of the dual-station hand-held robotic arm used for processing the main box body according to this utility model.
[0014] Figure 3 This is a structural front view of the dual-station hand-held manipulator used for main box body processing according to this utility model.
[0015] The components are: 1. mounting flange, 2. positioning pin, 3. first push cylinder base plate, 4. first push cylinder, 5. first push plate, 6. second pusher, 7. second pneumatic gripper, 8. detection switch, 9. dual-station flange, 10. first clamp, 11. air blowing pipeline, 12. second clamp, 13. second push cylinder base plate, 14. second push plate, 15. second pusher, 16. second push cylinder, 17. second pneumatic gripper, 18. inclined groove, 19. lower stop. Detailed Implementation
[0016] like Figure 2 and Figure 3 As shown, this utility model discloses a dual-station hand-held robotic arm for machining the main body of a machine, comprising a mounting flange 1, a dual-station flange 9, and a gripping mechanism. The mounting flange 1 is a six-axis flange with locating pin holes. The dual-station flange 9 is a back-to-back angled flange with two opposing inclined surfaces at a certain angle. A locating pin 2 is provided on its bottom surface. The locating pin 2 is inserted into the locating pin holes of the mounting flange 1 (six-axis flange), connecting the dual-station flange 9 to the mounting flange 1. The locating pin 2 serves a positioning function during the connection between the mounting flange 1 and the dual-station flange 9. The mounting flange 1 is connected to the robot's end effector, and the robot controls the rotation of the entire robotic arm. A gripping mechanism is provided on each inclined surface of the dual-station flange 9.
[0017] The two gripper mechanisms have the same structure. One gripper mechanism per workstation ( Figure 2 The lower left side of the structure includes a first pusher base plate 3, a first pusher cylinder 4, a first pusher plate 5, a first pusher 6, a first pneumatic gripper 7, and a first clamp 10. The first pusher base plate 3 is connected to one inclined surface of the double-station flange 9. A set of first pusher cylinders 4 is installed on both the upper and lower parts of the first pusher base plate 3 (see...). Figure 3 Each set of first push cylinder 4 has a piston rod equipped with a first push plate 5, and the left and right sides of the first push plate 5 are connected to first push handles 6 (see...). Figure 2A first pneumatic gripper 7 is installed on the first cylinder base plate 3 between the upper and lower first push plates 5. A pair of first clamps 10 are installed on the left and right output ends of the first pneumatic gripper 7 (see...). Figure 2 The pneumatic gripper is existing technology. Its two end faces are connected and fixed together with the clamp 10. When the pneumatic gripper is working, it drives the clamp to open and close. The first pneumatic gripper 7 is equipped with a detection switch 8, which is used to detect the clamping and opening status of the workpiece (main housing). The detection switch 8 identifies the opening and closing of the pneumatic gripper by detecting the working stroke of the pneumatic gripper. When the gripper moves to the position of the main housing, the pneumatic gripper drives the clamp to clamp the main housing from both sides.
[0018] The first clamp 10 has a slanted groove 18 and a lower stop 19 machined on it to better clamp the workpiece. Air blowing holes are provided on both sides of the end of the first clamp 10. The air blowing holes are connected to the air blowing pipe 11. Air blowing is performed on the workpiece through the air blowing holes to keep the workpiece clamping surface clean.
[0019] The hand gripper mechanism at another workstation (see Figure 2 The upper right side includes a second pusher cylinder base plate 13, which is connected to the other inclined surface of the double-position flange 9. A second pusher cylinder 16 is mounted on both the upper and lower parts of the second pusher cylinder base plate 13 (see...). Figure 3 Each set of second push cylinder 4 has a piston rod equipped with a second push plate 14, and the left and right sides of the second push plate 14 are connected to second push handles 15 (see Figure 2 A second pneumatic gripper 17 is installed on the second cylinder base plate 13 between the upper and lower second push plates 14. A pair of second clamps 12 are installed on the left and right output ends of the second pneumatic gripper 17 (see...). Figure 2 The second pneumatic gripper 17 is also equipped with a detection switch. The second clamp 12 is also machined with a slanted groove and a lower stop, and is provided with an air blow hole.
[0020] The process of the robotic arm grasping the main box is described below.
[0021] In the two-station hand gripper mechanism, one is used to load the workpiece onto the upper machine tool for processing, and the other is used to unload the workpiece that has been processed on the machine tool.
[0022] The robot controls the manipulator to move to the main housing position. The first pneumatic gripper 7 drives two sets of first clamps 10 to clamp the main housing from both sides and place it on the machine tool fixture. The first pneumatic gripper 7 releases, and the first push cylinder 4 drives the first push plate 5 and the first pusher 6 to push the workpiece into place. Then the push plate 5 and the pusher 6 return, and the loading is completed.
[0023] During unloading, the second pneumatic gripper 17 drives the second clamp 12 to clamp the main housing from both sides, and remove the processed main housing from the machine tool fixture.
[0024] During loading and unloading, the robotic arm rotates 180° to switch between two workstations, unloading first and then loading. While the hand gripper mechanism at one workstation is unloading, the hand gripper mechanism at the other workstation completes the clamping of the workpiece, with the second clamp 12 clamping from both sides, thus speeding up the production cycle.
Claims
1. A double station hand gripping robot for master case processing, characterized by, The installation flange, the double-station flange and the hand grabbing mechanism are included, the double-station flange is connected to the installation flange, and two sets of hand grabbing mechanisms are arranged on the double-station flange. The double-station flange is a back-to-back bevel flange with two opposite bevels, and a positioning pin shaft is arranged on the bottom surface, and one set of hand grabbing mechanism is arranged on each bevel.
2. The double station hand grasp manipulator for master case processing of claim 1, wherein, The double-station flange is connected to the installation flange through the positioning pin shaft.
3. The double station hand grasp manipulator for master case processing of claim 1, wherein, The installation flange is a six-axis flange, and a positioning pin hole is arranged on the installation flange.
4. The dual station hand grasp manipulator for primary case processing of claim 1, wherein, The hand grabbing mechanism includes a push cylinder bottom plate, a push cylinder, a push plate, a push hand, a gas claw and a clamp, the push cylinder bottom plate is connected to the double-station flange, the push cylinder and the gas claw are mounted on the push cylinder bottom plate, the piston rod of the push cylinder is connected to the push plate, the push hand is arranged on the push plate, and the clamp is arranged on the gas claw.
5. The double station hand grasp manipulator for master case processing of claim 4, wherein, A detection switch is arranged on the gas claw.
6. The double station hand grasp manipulator for master case processing of claim 4, wherein, An inclined groove and a lower stop edge are machined on the clamp.
7. The dual station hand grasp manipulator for primary case processing of claim 4, wherein, A gas blowing hole is arranged on the clamp, and the gas blowing hole is connected to a gas blowing pipeline.