Double-station integrated mechanical arm

Abstract

The utility model discloses a double-station integrated mechanical arm which comprises a base, a horizontal rotating mechanism, a vertical lifting mechanism and a double-station mechanical arm body. The horizontal rotating mechanism is fixed on the base, and the vertical lifting mechanism is connected with the horizontal rotating mechanism; the double-station mechanical arm comprises a sliding base, a fixed clamping jaw, a movable clamping jaw connecting base, an air cylinder and a movable clamping jaw. The sliding seat is driven by a vertical lifting mechanism to move up and down; fixed clamping jaws are arranged at the two ends of the sliding seat; a cylinder body of the cylinder is arranged at one end of the sliding seat; a cylinder rod of the cylinder is connected with a movable clamping jaw; the two sides of a movable clamping jaw connected with an air cylinder rod of the air cylinder are connected with movable clamping jaw connecting bases, the other ends of the movable clamping jaw connecting bases extend to the other end of the sliding base, and the other end of each movable clamping jaw connecting base is connected with the other fixed clamping jaw. According to the double-station integrated mechanical arm, the air cylinder is used for controlling opening and closing of the two sets of clamping jaws, and when one set of clamping jaws clamps materials, the other set of clamping jaws releases the materials.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arm technology, and in particular relates to a dual-station integrated robotic arm. Background Technology

[0002] In the process of material processing, there is often a process of transferring the processed materials to the next work station. In order to improve the efficiency of this process and make it into an assembly line, a robotic arm can be designed to achieve this purpose. Utility Model Content

[0003] The purpose of this invention is to provide a dual-station integrated robotic arm. This robotic arm uses a cylinder to control the opening and closing of two sets of grippers. While one set of grippers holds the material, the other set of grippers releases the material. The process of cyclically holding and releasing the material effectively improves the efficiency of transferring the material to the workstation.

[0004] To achieve the above objectives, the technical solution of this utility model is to design a dual-station integrated robotic arm, including a base, a horizontal rotation mechanism, a vertical lifting mechanism, and a dual-station robotic arm. The horizontal rotation mechanism is fixed on the base, and the vertical lifting mechanism is connected to the horizontal rotation mechanism, which drives the vertical lifting mechanism to rotate on a horizontal plane. The dual-station robotic arm includes a slide, a fixed gripper, a movable gripper connecting seat, a cylinder, and a movable gripper. The slide is driven to move up and down by the vertical lifting mechanism. Fixed grippers are provided at both ends of the slide. The cylinder body of the cylinder is placed at one end of the slide, and the cylinder rod of the cylinder is connected to a movable gripper. The movable gripper is controlled by the cylinder rod and works with the fixed gripper on the slide to clamp materials. Movable gripper connecting seats are connected to both sides of the movable gripper connected to the cylinder rod. The other end of the movable gripper connecting seat extends to the other end of the slide, and another fixed gripper is connected to the other end of the movable gripper connecting seat.

[0005] Furthermore, the horizontal rotation mechanism includes a first stepper motor, a first reciprocating lead screw, a gear, a gear seat, and a gear seat cover; the first stepper motor is mounted on a base, and the shaft of the first stepper motor is connected to the first reciprocating lead screw; a gear seat is provided on the base, and a gear is installed inside the gear seat, the gear meshing with the first reciprocating lead screw; a gear seat cover is fixed to the gear seat by bolts to prevent the gear from dislodging from the gear seat.

[0006] Furthermore, the vertical lifting mechanism includes a column, a second reciprocating lead screw, and a second stepper motor; the gear shaft is connected to the bottom of the column; a motor base is provided at the top of the column, the second stepper motor is fixed on the motor base, the shaft of the second stepper motor is connected to the second reciprocating lead screw, the second reciprocating lead screw is parallel to the column, a bearing is provided at the lower end of the column, and the lower end of the second reciprocating lead screw passes through the bearing.

[0007] Furthermore, the slide block has a central groove for the column to pass through; the inner wall of the groove is provided with a roller, and the side wall of the column has a roller groove for the roller to roll within it; the slide block has a clearance groove for avoiding the roller; the slide block slides on the column, and the slide block has a threaded hole for the second reciprocating screw to pass through, so that the second reciprocating screw can drive the slide block to move up and down along the column.

[0008] Furthermore, a guide post is provided on the rear side of the fixed gripper at one end of the slide without a cylinder, and a guide sleeve is provided on the slide to allow the guide post to extend and retract within it; guide rails are provided on both sides of the slide for the sliding of the movable gripper connecting seat.

[0009] The advantages and beneficial effects of this utility model are as follows: This utility model is a dual-station integrated robotic arm that uses a cylinder to control the opening and closing of two sets of grippers. While one set of grippers holds the material, the other set of grippers releases the material. The process of cyclically holding and releasing the material effectively improves the efficiency of transferring the material to the workstation. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the structure of this utility model.

[0011] Figure 2 This is an exploded view of the present invention.

[0012] Figure 3 This is a schematic diagram of the slide block.

[0013] Figure 4 This is a schematic diagram of the movable gripper connector.

[0014] The components include: base 1, first stepper motor 2, first reciprocating screw 3, gear 4, gear seat 5, gear seat cover 6, column 7, second stepper motor 8, slide 9, roller 10, fixed gripper 11, movable gripper connecting seat 12, guide sleeve 13, cylinder 14, movable gripper 15, and second stepper motor 16. Detailed Implementation

[0015] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solution of this utility model and should not be construed as limiting the scope of protection of this utility model. Example

[0016] A dual-station integrated robotic arm includes a base 1, a first stepper motor 2, a first reciprocating screw 3, a gear 4, a gear seat 5, a gear seat cover 6, a column 7, a second reciprocating screw 8, a slide 9, a roller 10, a fixed gripper 11, a movable gripper connecting seat 12, a guide sleeve 13, a cylinder 14, a movable gripper 15, and a second stepper motor 16.

[0017] The base 1 is equipped with a first stepper motor 2, and the shaft of the first stepper motor 2 is connected to the first reciprocating lead screw 3; the base 1 is equipped with a gear seat 5, and a gear 4 is installed inside the gear seat 5. The gear 4 meshes with the first reciprocating lead screw 3; a gear seat cover 6 is fixed to the gear seat 5 by bolts to prevent the gear 4 from coming out of the gear seat 5; the central shaft of the gear 4 is connected to the bottom of the column 7.

[0018] The top of the column 7 is provided with a motor base, the second stepper motor 16 is fixed on the motor base, the shaft of the second stepper motor 16 is connected to the second reciprocating lead screw 8, the second reciprocating lead screw 8 is parallel to the column 7, the lower end of the column 7 is provided with a shaft seat, and the lower end of the second reciprocating lead screw 8 passes through the shaft seat;

[0019] The slide block 9 has a through groove 9-2 in the center for the column 7 to pass through; the inner wall of the through groove 9-2 is provided with a roller 10, and the side wall of the column 7 is provided with a roller groove for the roller 10 to roll in it; the slide block 9 is provided with a relief groove 9-3 for avoiding the roller 10; the slide block 9 slides on the column 7, and the slide block 9 is provided with a threaded hole for the second reciprocating screw 8 to pass through, so that the second reciprocating screw 8 can drive the slide block 9 to move up and down along the column 7;

[0020] Both ends of the slide 9 are provided with fixing claws 11;

[0021] The cylinder body of cylinder 14 is mounted on one end of slide 9. A movable gripper 15 is connected to the cylinder rod of cylinder 14. The movable gripper 15 is controlled by the cylinder rod of cylinder 14, and works with the fixed gripper 11 on slide 9 to clamp the material.

[0022] The movable gripper 15, which is connected to the cylinder rod of the cylinder 14, is connected to movable gripper connecting seats 12 on both sides. The other end of the movable gripper connecting seat 12 extends to the other end of the slide 9, and the other end of the movable gripper connecting seat 12 is connected to another fixed gripper 11. The other fixed gripper 11 is provided with a guide post on its rear side. The slide 9 is provided with a guide sleeve 13 that allows the guide post to extend and retract within it. Guide rails 9-1 for sliding of the movable gripper connecting seat 12 are provided on both sides of the slide 9.

[0023] How to use:

[0024] The second stepper motor 16 drives the second reciprocating screw 8 to rotate, the slide 9 moves down, and the cylinder rod of the cylinder 14 retracts, the movable gripper 15 cooperates with the fixed gripper 11 on the slide 9 to clamp the material; the slide 9 moves up, lifting the material, at which time the fixed gripper 11 and movable gripper 15 at the other end are in the open state; the first reciprocating screw 3 drives the gear 4 to rotate, thus transferring the clamped material to another station, at which time the fixed gripper 11 and movable gripper 15 at the other end arrive at the station where the material is clamped; the fixed gripper 11 and movable gripper 15 on the side holding the material open, and the fixed gripper 11 and movable gripper 15 at the station where the material is clamped clamps the new material, and the above process is repeated to achieve efficient material transfer.

[0025] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present utility model, and these improvements and modifications should also be considered within the protection scope of the present utility model.

Claims

1. A dual-station integrated robotic arm, characterized in that: The system includes a base, a horizontal rotation mechanism, a vertical lifting mechanism, and a dual-station robotic arm. The horizontal rotation mechanism is fixed to the base, and the vertical lifting mechanism is connected to the horizontal rotation mechanism, driving the vertical lifting mechanism to rotate on a horizontal plane. The dual-station robotic arm includes a slide, a fixed gripper, a movable gripper connecting seat, a cylinder, and a movable gripper. The slide is driven to move up and down by the vertical lifting mechanism. Fixed grippers are provided at both ends of the slide. The cylinder body is located at one end of the slide, and the cylinder rod is connected to a movable gripper. The movable gripper is controlled by the cylinder rod and works with the fixed gripper on the slide to clamp materials. Movable gripper connecting seats are connected to both sides of the movable gripper connected to the cylinder rod. The other end of the movable gripper connecting seat extends to the other end of the slide, and another fixed gripper is connected to the other end of the movable gripper connecting seat.

2. The dual-station integrated robotic arm according to claim 1, characterized in that: The horizontal rotation mechanism includes a first stepper motor, a first reciprocating lead screw, a gear, a gear seat, and a gear seat cover; the first stepper motor is mounted on a base, and the shaft of the first stepper motor is connected to the first reciprocating lead screw; the base is provided with a gear seat, and a gear is installed inside the gear seat, which meshes with the first reciprocating lead screw; a gear seat cover is fixed to the gear seat by bolts to prevent the gear from coming out of the gear seat.

3. The dual-station integrated robotic arm according to claim 2, characterized in that: The vertical lifting mechanism includes a column, a second reciprocating lead screw, and a second stepper motor; the gear shaft is connected to the bottom of the column; a motor base is provided at the top of the column, the second stepper motor is fixed on the motor base, the shaft of the second stepper motor is connected to the second reciprocating lead screw, the second reciprocating lead screw is parallel to the column, a bearing is provided at the lower end of the column, and the lower end of the second reciprocating lead screw passes through the bearing.

4. The dual-station integrated robotic arm according to claim 3, characterized in that: The slide block has a through groove in the center for the column to pass through; the inner wall of the through groove is provided with a roller, and the side wall of the column is provided with a roller groove for the roller to roll in; the slide block is provided with a clearance groove for avoiding the roller; the slide block slides on the column, and the slide block is provided with a threaded hole for the second reciprocating screw to pass through, so that the second reciprocating screw can drive the slide block to move up and down along the column.

5. The dual-station integrated robotic arm according to claim 1, characterized in that: The slide without a cylinder has a guide post on the rear side of the fixed gripper at one end, and a guide sleeve on the slide to allow the guide post to extend and retract within it; the slide has guide rails on both sides for sliding of the movable gripper connecting seat.

Images