Stacking type double-station manipulator

Abstract

The utility model relates to the technical field of feeding manipulators, in particular to a stacking type double-station manipulator which comprises a base, a lifting module capable of doing lifting motion in the vertical direction is installed on the central axis of the base, a rotating disc is installed at the top end of the lifting module, and a fixing base is fixedly installed at the top end of the rotating disc. And the number of the fixing bases is two, and the two fixing bases are installed on the rotating disc in a stacked mode from bottom to top. According to the stacking type mechanical arm, the two linear modules which are longitudinally stacked and move in the mutual direction are arranged to drive the two mechanical arms respectively, taking and placing operation can be conducted on the two stations at the same time, the stacking type mechanical arm is more compact in structure, the space range needed by movement is small, the occupied area needed by arrangement of the mechanical arms can be reduced, and the working efficiency is improved. The device is more suitable for being used in a crowded production line environment, facilitates reasonable arrangement of production equipment in a limited space, adapts to the layout of a production line, and improves the space utilization rate of the production line.

Description

TECHNICAL FIELD

[0001] The utility model relates to a feeding mechanical hand technical field especially relates to a stacking type double station mechanical hand. BACKGROUND

[0002] In the production line of the jar body product, the jar body product handling is the key link of connecting each production process, the traditional mechanical hand is taken when putting the jar body product, often there is low efficiency, the precision is not high and it is difficult to adapt to different station layout etc. problem, the existing multi-freedom mechanical hand needs to carry out taking and placing operation on the both ends of the path through the preset path program, for the carrying demand between multiple stations, cannot achieve synchronous carrying, usually need to switch to another station after completing the taking and placing operation on the both ends of the path on one station to carry out taking and placing work on the both ends of the corresponding path, make the jar body product flow speed on the whole production line slower, seriously restrict the production efficiency, and the motion path of multi-freedom mechanical hand is big, it is inconvenient to arrange and use in crowded production line. UTILITARY MODEL CONTENTS

[0003] The utility model aims at solving the problems in prior art and provides a stacking type double station mechanical hand.

[0004] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] A stacking type double station mechanical hand, comprising:

[0006] The base is provided with a lifting module capable of lifting vertically on the central axis of the base, the top end of the lifting module is provided with a rotating disc, and the top end of the rotating disc is fixedly provided with a fixed seat;

[0007] The fixed seat has two groups, and the two groups of fixed seats are stacked from bottom to top on the rotating disc, and the two groups of fixed seats are both drivenly connected with a linear module capable of sliding relative to the fixed seat, and the front end of the two groups of linear modules is provided with a mechanical hand;

[0008] The sliding directions of the two groups of linear modules are perpendicular to each other.

[0009] Preferably, the lifting module comprises a longitudinal beam slidably mounted on the central axis of the base, the side end of the longitudinal beam is provided with a second rack parallel to the longitudinal beam, the side end of the base is provided with a lifting drive motor, and the output end of the lifting drive motor is connected with a gear engaged with the second rack through the side wall of the base.

[0010] Preferably, the top end of the longitudinal beam is provided with a rotating disc, the inside of the top end of the longitudinal beam is provided with a rotating drive motor, and the rotating drive motor is drivingly connected with the rotating disc.

[0011] Preferably, the top surface of the base is provided with a limiting groove at one end, a limiting rod is slidably connected in the limiting groove and is longitudinally arranged, a connecting plate is sleeved on the limiting rod, and the other end of the connecting plate is fixedly connected with the rotating disc.

[0012] Preferably, the limiting groove is arc-shaped, and the limiting rod is internally provided with a wire channel penetrating through the center axis of the limiting rod at both ends.

[0013] Preferably, the internal bottom wall of the fixing seat is provided with a sliding seat, the linear module comprises a cross beam, the bottom of the cross beam is provided with a sliding rail in sliding connection with the sliding seat, and the front end of the cross beam is provided with a mechanical hand.

[0014] Preferably, the side end of the fixing seat perpendicular to the sliding direction of the cross beam is provided with a sliding drive motor, the output end of the sliding drive motor is connected with a drive gear penetrating through the side wall of the fixing seat, and the side end of the cross beam is provided with a first rack in meshing connection with the drive gear.

[0015] Preferably, the mechanical hand comprises a clamping connecting seat, the clamping connecting seat is fixed at the front end of the cross beam, two clamping jaws are symmetrically hinged at the two sides of the front end of the cross beam away from the cross beam, a synchronous connecting rod is arranged between the distal ends of the two clamping jaws, and a clamping cylinder in driving connection with the synchronous connecting rod is arranged at the rear end of the clamping connecting seat.

[0016] Preferably, the clamping jaw comprises an arc-shaped clamping arm, the middle part of the arc-shaped clamping arm is movably hinged with the clamping connecting seat, the front end of the arc-shaped clamping arm is provided with an arc-shaped clamping groove, the rear end of the arc-shaped clamping arm is hinged with a connecting rod, and the other end of the connecting rod is hinged with the synchronous connecting rod.

[0017] Preferably, the front end of the arc-shaped clamping arm is provided with a guide wheel, and the guide wheel is rotatably connected with the arc-shaped clamping arm.

[0018] Compared with the prior art, the utility model provides a kind of stacked double-station mechanical hand, with the following beneficial effects: the utility model is provided with two linear modules which are longitudinally stacked and whose movement directions are opposite, to drive two mechanical hands respectively, so that the two mechanical hands can simultaneously take and place on two stations, the stacked mechanical hand structure is more compact, the space required for movement is smaller, the floor area required for mechanical hand arrangement can be reduced, and the utility model is more suitable for use in crowded production line environment, facilitating reasonable arrangement of production equipment in limited space, adapting to the layout of production line, and improving the space utilization rate of production line. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0020] Figure 2 It is a top view structure schematic view of the utility model;

[0021] Figure 3This is a schematic diagram of the internal structure of the base of this utility model;

[0022] Figure 4 This is a front view structural diagram of the present invention;

[0023] Figure 5 This is a three-dimensional schematic diagram of the connection structure between the fixed base, the linear module, and the robotic arm of this utility model;

[0024] Figure 6 This is a partially enlarged schematic diagram of the robotic arm structure of this utility model.

[0025] In the diagram: 1. Fixed base; 2. Robotic arm; 21. Gripper; 211. Arc-shaped gripper arm; 212. Connecting rod; 213. Guide wheel; 22. Clamping connecting seat; 23. Clamping cylinder; 24. Synchronous connecting rod; 3. Linear module; 31. Crossbeam; 32. First rack; 4. Lifting module; 41. Longitudinal beam; 42. Rotary disk; 43. Second rack; 5. Base; 51. Limiting groove; 6. Lifting drive motor; 7. Sliding drive motor; 8. Limiting rod; 81. Wire harness channel; 82. Connecting plate; 9. Rotation drive motor. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0027] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Example

[0028] like Figures 1 to 6 As shown, a stacked dual-station robotic arm 2 includes:

[0029] The base 5 has a lifting module 4 that can move vertically up and down on its central axis. A rotating disk 42 is installed on the top of the lifting module 4, and a fixed seat 1 is fixedly installed on the top of the rotating disk 42. The base 5 is the basic support structure of the entire robot 2. The lifting module 4 can move up and down relative to the base 5, thereby driving the rotating disk 42, the two fixed seats 1 installed on the rotating disk 42, and the robot 2 installed in the middle to rise. The rotating disk 42 is used to drive the fixed seats 1 and the robot 2 to rotate, so that the robot 2 can pick up and put down the canned products.

[0030] The fixed base 1 has two sets, which are stacked on the rotating disk 42 from bottom to top. Each set of fixed base 1 is driven and connected to a linear module 3 that can slide relative to the fixed base 1. The front end of the two sets of linear modules 3 is equipped with a robot arm 2. In use, the linear module 3 is used to push the robot arm 2 to slide relative to the fixed base 1 in the horizontal direction, thereby picking up and placing canned products.

[0031] The sliding directions of the two linear modules 3 are perpendicular to each other, and there are two pick-up and put-down stations. Through the driving motion of the linear modules 3, the two robotic arms 2 can make precise displacements in two corresponding perpendicular directions, thereby clamping and fixing the target can product, and transporting it by rotating the rotary table 42. Since the sliding directions of the two linear modules 3 are perpendicular to each other, the two robotic arms 2 can perform pick-up and put-down operations in different directions, which can better adapt to various station layouts on the production line. Whether it is a linear, L-shaped or other complex layout station, the sliding direction of the linear modules 3 can be changed by adjusting the angle of the rotary table 42 to achieve efficient transport of can products.

[0032] Furthermore, the lifting module 4 includes a longitudinal beam 41 slidably mounted on the central axis of the base 5. A second rack 43 parallel to the longitudinal beam 41 is mounted on the side end of the longitudinal beam 41. A lifting drive motor 6 is mounted on the side end of the base 5. The output end of the lifting drive motor 6 passes through the side wall of the base 5 and is connected to a gear that meshes with the second rack 43. In use, the longitudinal beam 41 is slidably mounted on the central axis of the base, and the second rack 43 parallel to the longitudinal beam 41 is mounted on its side end. The output end of the lifting drive motor 6 mounted on the side end of the base 5 passes through the side wall of the base 5 and is connected to a gear that meshes with the second rack 43. When the lifting drive motor 6 rotates, the gear is driven to rotate and meshes with the second rack 43, thereby driving the longitudinal beam 41 to move up and down along the central axis of the base 5, which can precisely control the height of the two robotic arms 2 in the vertical direction.

[0033] Furthermore, a rotating disk 42 is installed at the top of the longitudinal beam 41, and a rotary drive motor 9 is installed inside the top of the longitudinal beam 41. The rotary drive motor 9 is driven and connected to the rotating disk 42. When the rotary drive motor 9 is working, it drives the rotating disk 42 to rotate, thereby driving the two robotic arms 2 to rotate around the central axis of the rotating disk 42, adjusting the angle between the robotic arms 2 and the can product to be clamped.

[0034] Furthermore, a limiting groove 51 is provided on one end of the top surface of the base 5. A longitudinally arranged limiting rod 8 is slidably connected in the limiting groove 51. A connecting plate 82 is fitted onto the rod of the limiting rod 8, and the other end of the connecting plate 82 is fixedly connected to the rotating disk 42. In use, the longitudinally arranged limiting rod 8 is slidably connected in the limiting groove 51 at one end of the top surface of the base 5, and the connecting plate 82 is fitted onto the rod of the limiting rod 8. The other end of the connecting plate 82 is fixedly connected to the rotating disk 42. When the rotating disk 42 rotates, the limiting rod 8 slides in the limiting groove 51, guiding the rotational movement of the rotating disk 42 and limiting the rotational range of the rotating disk 42, ensuring the stability and accuracy of the rotational movement, and preventing the rotating disk 42 from rotating excessively and damaging the mechanical structure.

[0035] Furthermore, the limiting groove 51 is arc-shaped, and the limiting rod 8 has a wire harness channel 81 that runs through both ends of the central axis of the limiting rod 8. In use, the arc-shaped limiting groove 51 matches the rotational movement of the rotating disk 42, which can better guide the sliding of the limiting rod 8. The wire harness channel 81 that runs through both ends of the central axis of the limiting rod 8 facilitates the arrangement of related electrical control lines or pneumatic pipelines through the wire harness channel 81, avoiding the lines from being squeezed, tangled or interfered with during rotation.

[0036] Furthermore, a slide block is installed in the inner bottom wall of the fixed base 1. The linear module 3 includes a crossbeam 31. A slide rail that is slidably connected to the slide block is installed at the bottom of the crossbeam 31. A robot arm 2 is installed on the front side of one end of the crossbeam 31. When the linear module 3 is working, the crossbeam 31 slides on the slide block through the slide rail, thereby driving the robot arm 2 to move.

[0037] Furthermore, a sliding drive motor 7 is installed on the side end of the fixed base 1 perpendicular to the sliding direction of the crossbeam 31. The output end of the sliding drive motor 7 passes through the side wall of the fixed base 1 and is connected to a drive tooth. The side end of the crossbeam 31 is provided with a first rack 32 that meshes with the drive tooth. In use, the sliding drive motor 7 is installed on the side end of the fixed base 1 perpendicular to the sliding direction of the crossbeam 31. The drive tooth connected to its output end meshes with the first rack 32 on the side end of the crossbeam 31. When the sliding drive motor 7 rotates, the drive tooth drives the first rack 32 to move, thereby connecting the crossbeam 31 to the slide block inside the fixed base 1 through the slide rail, so that the crossbeam 31 slides in a straight line along the slide rail. Through the meshing transmission of the gear and the first rack 32, the rotational motion of the sliding drive motor 7 is converted into the linear motion of the crossbeam 31, thereby controlling the robot arm 2 to slide on the horizontal plane and realize the clamping and handling of the tank product in the horizontal direction.

[0038] Furthermore, the robotic arm 2 includes a clamping connector 22, which is fixed to the front end of the crossbeam 31. Two grippers 21 are mirror-hinged on both sides of the front end of the clamping connector 22 away from the crossbeam 31. A synchronous connecting rod 24 is installed between the ends of the two grippers 21. A clamping cylinder 23 is installed at the rear end of the clamping connector 22 and is driven and connected to the synchronous connecting rod 24. In use, the clamping cylinder 23 works and drives the two grippers 21 to move in opposite directions through the synchronous connecting rod 24, thereby clamping or releasing the canned product.

[0039] Furthermore, the gripper 21 includes an arc-shaped gripping arm 211, the middle of which is movably hinged to the gripping connecting seat 22. The front end of the arc-shaped gripping arm 211 has an arc-shaped gripping groove, and the rear end is hinged to a connecting rod 212. The other end of the connecting rod 212 is hinged to a synchronous connecting rod 24. In use, the middle of the arc-shaped gripping arm 211 is movably hinged to the gripping connecting seat 22, the front end has an arc-shaped gripping groove, and the rear end is hinged to the connecting rod 212. The other end of the connecting rod 212 is hinged to the synchronous connecting rod 24. When the synchronous connecting rod 212... When rod 24 moves, it drives the arc-shaped clamping arm 211 to rotate around the hinge point between itself and the clamping connecting seat 22 via connecting rod 212. This causes the arc-shaped clamping slots on both sides to move closer to or further away from the can product, completing the clamping or releasing action. The arc-shaped clamping arm 211 can better fit the shape of the can product, improving the stability of the clamping. The synchronous connecting rod 24 connects the arc-shaped clamping arms 211 on both sides via connecting rods 212 at both ends, so that the two grippers 21 can move synchronously, ensuring the consistency of the clamping action.

[0040] Furthermore, a guide wheel 213 is installed at the front end of the arc-shaped clamping arm 211. The guide wheel 213 is rotatably connected to the arc-shaped clamping arm 211. During use, the guide wheel 213 can rotate during the clamping of the can product. When the arc-shaped clamping arm 211 contacts the surface of the can product, it can reduce friction and prevent the arc-shaped clamping arm 211 from scratching the surface of the can product.

[0041] Working Principle: This utility model is applied to an automated production line, efficiently completing the handling of canned products between multiple workstations. The base 5 serves as the core support, with a vertically lifting longitudinal beam 41 mounted on its central axis. The top of the longitudinal beam 41 is connected to a rotating disk 42, which carries two sets of longitudinally stacked fixed seats 1. Each fixed seat 1 is connected to a crossbeam 31 via a corresponding sliding drive motor 7. A robotic arm 2 is mounted at the front end of each crossbeam 31, and the sliding directions of the two crossbeams 31 are perpendicular to each other, forming two pick-and-place stations. During operation, the lifting module... The longitudinal beam 41 of the base 5 slides along the central axis of the base 5. Its second rack 43 at its side end meshes with the gear at the output end of the lifting drive motor 6, controlling the lifting and lowering of the longitudinal beam 41 and precisely adjusting the height of the robotic arm 2. The rotating disk 42 at the top of the longitudinal beam 41 is driven by an internal rotating drive motor 9, causing the robotic arm 2 to rotate to the target angle to adapt to the position of the corresponding tank product and maintain a coaxial posture with the tank product. The top surface of the base 5 has an arc-shaped limiting groove 51, in which a sliding limiting rod 8 is provided. The limiting rod 8 and the rotating disk 42 are positioned... The rotating disk 42 is fixedly connected by a connecting rod. When rotating, the rotating disk 42 drives the limiting rod 8 to slide synchronously. The limiting rod 8 acts as a mechanical limiter, restricting the rotation range of the rotating disk 42. A sliding seat is provided in the fixed seat 1 at the top of the rotating disk 42, which is used to cooperate with the slide rail on the bottom of the crossbeam 31 of the linear module 3. A sliding drive motor 7 is provided on the side wall of the fixed seat 1. It meshes with the first rack 32 on the side end of the crossbeam 31 through a gear, thereby driving the crossbeam 31 to slide linearly relative to the fixed seat 1, driving the robot arm 2 to slide, which is used to accurately clamp the canned product and carry it. Hand 2 includes two symmetrical grippers 21, which are hinged to the front end of crossbeam 31. The gripping cylinder 23 drives the two grippers 21 to move towards or away from each other via synchronous connecting rod 24 to complete the gripping and release of the can product. The front end of the gripper 21 has an arc-shaped gripping groove, which makes the gripper 21 fit the contour of the can product better and improves the gripping stability. The front end of the arc-shaped gripping arm 211 of the gripper 21 is provided with a freely rotatable guide wheel 213, which is used to reduce hard friction with the surface of the can product when gripping or releasing the can product and prevent the robot hand 2 from scratching the surface of the can product.

[0042] The workflow is as follows: Robotic arm 2 is initially positioned, and lifting module 4 raises robotic arm 2 to the target height; rotating disk 42 rotates, causing one of the linear modules 3 to rotate and align with the target; the corresponding linear module 3 drives robotic arm 2 to slide towards the target can until it is directly above the product; clamping cylinder 23 drives gripper 21 to open; robotic arm 2 descends, and gripper 21 closes to grasp the product; linear module 3 returns robotic arm 2 to its original position; rotating disk 42 rotates, and linear module 3 moves robotic arm 2 directly above the next workstation; robotic arm 2 descends, and gripper 21 releases, completing the can product handling. Two linear modules 3 can simultaneously handle can products from two mutually perpendicular workstations, greatly improving production handling efficiency.

[0043] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A stacked dual-station robotic arm, characterized in that, include: The base (5) has a lifting module (4) that can move up and down in the vertical direction installed on the central axis of the base (5). A rotating disk (42) is installed at the top of the lifting module (4), and a fixed seat (1) is fixedly installed at the top of the rotating disk (42). Fixed base (1), the fixed base (1) has two sets, the two sets of fixed base (1) are stacked on the rotating disk (42) from bottom to top, and each set of fixed base (1) is driven and connected to a linear module (3) that can slide relative to the fixed base (1), and a robot arm (2) is installed at the front end of the two sets of linear modules (3). The sliding directions of the two sets of linear modules (3) are perpendicular to each other.

2. The stacked dual-station robotic arm according to claim 1, characterized in that: The lifting module (4) includes a longitudinal beam (41) that is slidably mounted on the central axis of the base (5). A second rack (43) parallel to the longitudinal beam (41) is mounted on the side end of the longitudinal beam (41). A lifting drive motor (6) is mounted on the side end of the base (5). The output end of the lifting drive motor (6) passes through the side wall of the base (5) and is connected to a gear that meshes with the second rack (43).

3. A stacked dual-station robotic arm according to claim 2, characterized in that: A rotating disk (42) is installed at the top of the longitudinal beam (41), and a rotating drive motor (9) is installed inside the top of the longitudinal beam (41). The rotating drive motor (9) is connected to the rotating disk (42) in a driving connection.

4. A stacked dual-station robotic arm according to claim 3, characterized in that: The base (5) has a limiting groove (51) on one end of its top surface. A limiting rod (8) is slidably connected in the limiting groove (51). A connecting plate (82) is fitted on the rod of the limiting rod (8). The other end of the connecting plate (82) is fixedly connected to the rotating disk (42).

5. A stacked dual-station robotic arm according to claim 4, characterized in that: The limiting groove (51) is arc-shaped, and the limiting rod (8) has a wire channel (81) that passes through both ends of the central axis of the limiting rod (8).

6. A stacked dual-station robotic arm according to claim 1, characterized in that: The fixed base (1) has a slide installed in the inner bottom wall. The linear module (3) includes a crossbeam (31). The bottom of the crossbeam (31) is equipped with a slide rail that is slidably connected to the slide. A robot arm (2) is installed on the front side of one end of the crossbeam (31).

7. A stacked dual-station robotic arm according to claim 6, characterized in that: A sliding drive motor (7) is installed on the side end of the fixed seat (1) perpendicular to the sliding direction of the crossbeam (31). The output end of the sliding drive motor (7) is connected to a drive tooth through the side wall of the fixed seat (1). The side end of the crossbeam (31) is provided with a first rack (32) that meshes with the drive tooth.

8. A stacked dual-station robotic arm according to claim 7, characterized in that: The robotic arm (2) includes a clamping connector (22), which is fixed to the front end of the crossbeam (31). Two grippers (21) are mirror-hinged on both sides of the front end of the clamping connector (22) away from the crossbeam (31). A synchronous link (24) is installed between the ends of the two grippers (21). A clamping cylinder (23) is installed at the rear end of the clamping connector (22) and driven by the synchronous link (24).

9. A stacked dual-station robotic arm according to claim 8, characterized in that: The gripper (21) includes an arc-shaped gripper arm (211), the middle part of which is movably hinged to the gripping connecting seat (22). The front end of the arc-shaped gripper arm (211) is provided with an arc-shaped gripping groove, and the rear end is hinged to a connecting rod (212). The other end of the connecting rod (212) is hinged to a synchronous connecting rod (24).

10. A stacked dual-station robotic arm according to claim 9, characterized in that: The front end of the arc-shaped clamping arm (211) is equipped with a guide wheel (213), and the guide wheel (213) is rotatably connected to the arc-shaped clamping arm (211).

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