A four-connection mechanical hand for marking a bobbins bar

Abstract

The utility model discloses a four -in -one manipulator for the marking machine of picking spindle rod belongs to picking spindle rod production equipment technical field, four -in -one manipulator for the marking machine of picking spindle rod, including mounting support, the front side of mounting support is provided with actuating mechanism, and the top surface and the front side of mounting support all are provided with drive mechanism, and the actuating mechanism includes the sliding seat of setting in the front side of mounting support, and the front side of sliding seat is provided with four installation stations, wherein the first station, second station and fourth station all are installed with linear air cylinder, and the third station is installed with rotary clamping air cylinder. The utility model through mounting support on integration actuating mechanism and drive mechanism, realized four work position cooperation, and the linear air cylinder of first, second, fourth work position and the rotary clamping air cylinder of third work position division of labour cooperation, significantly promote picking spindle rod to snatch, assemble, turn over and mark the continuity of, reduce equipment idle time, improve production efficiency.

Description

Technical Field

[0001] This utility model belongs to the technical field of spindle removal equipment, specifically relating to a four-piece robotic arm for a spindle removal marking machine. Background Technology

[0002] Currently, bar marking machines primarily rely on manual operation or single-station robotic arms for material loading during the marking process. Manual loading requires operators to place each bar individually at the marking station and adjust its position to meet marking requirements. While some automated equipment uses single-station robotic arms, such as suction cups or grippers, for grasping and transferring, they are limited by a single actuator and can only process one bar at a time. Furthermore, they require repeated movement between multiple processes such as assembly, flipping, and marking, resulting in frequent and alternating machine actions. Although this type of loading partially replaces manual labor, it still suffers from discontinuous process connections and cannot achieve multi-task parallel processing.

[0003] In existing technologies, automatic feeding methods mainly fall into two categories: one involves using a sliding rail and a sliding clamp to clamp and fix the workpiece during movement using guide grooves and recessed structures, releasing it after it moves from the feeding position to the marking position; the other uses gravity feeding combined with a limiting mechanism, such as an inclined platform that rolls a tubular workpiece to the marking position, triggering the marking action via a limit switch, and then pushing the finished product out by a cylinder. These designs aim to maintain the stability of the workpiece transfer process and reduce manual intervention.

[0004] However, the above-mentioned feeding methods still have defects. Single-station robotic arms or gravity feeding mechanisms only support serial operations. For example, assembly and flipping need to be performed step by step, which means that the spindle removal rod needs to be moved multiple times before marking. The equipment idle rate is high and the production efficiency is limited. Moreover, the existing fixtures can only maintain the workpiece translation state and cannot solve the specific directional requirements required for marking the bevel gear end face of the spindle removal rod. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide a four-piece robotic arm for a bar marking machine.

[0006] The technical solution adopted to solve the above technical problems is: to provide a four-link manipulator for a bar marking machine, including a mounting bracket, characterized in that an execution mechanism is provided on the front side of the mounting bracket for gripping the bar, and a drive mechanism is provided on the top surface and the front side of the mounting bracket for driving the execution mechanism to grip the bar. The actuator includes a sliding seat disposed on the front side of the mounting bracket. The front side of the sliding seat is provided with four installation positions, wherein linear cylinders are installed at the first, second and fourth positions, and a rotary clamping cylinder is installed at the third position. The driving mechanism includes a sliding cylinder mounted on the top surface of the mounting bracket. The output shaft of the sliding cylinder is mounted on one side of the sliding seat and is used to drive the sliding seat to slide laterally. Lifting cylinders are installed above the four positions of the sliding seat and are used to drive the linear cylinder and the rotary clamping cylinder to lift vertically.

[0007] Through the above technical solution, by integrating the actuator and drive mechanism on the mounting bracket, four-station collaborative operation is realized. The linear cylinders of the first, second, and fourth stations and the rotary clamping cylinder of the third station cooperate with each other, which significantly improves the continuity of bar picking, assembly, flipping, and marking, reduces equipment downtime, and improves production efficiency.

[0008] Furthermore, a transverse guide rail is installed on the front side of the mounting bracket, and the sliding seat is slidably disposed on the outer wall of the transverse guide rail. Vertical guide rails are respectively installed on the front side of the sliding seat at four work positions. Mounting plates are slidably disposed on the outer wall of the vertical guide rails. The output shaft of the lifting cylinder is installed on the top surface of the mounting plate, and the linear cylinder and the rotary clamping cylinder are respectively installed on the front side of the corresponding mounting plate.

[0009] The above technical solution, by adding horizontal and vertical guide rails, ensures that the sliding seat moves laterally and the mounting plate rises and falls along precision tracks. The dual guide system reduces positioning errors, ensures the stability of the pick-up bar during transfer, and avoids assembly failure caused by gripping deviation.

[0010] Furthermore, the four workstations are arranged equidistantly along the front side of the sliding seat, the gripper of the linear cylinder is axially perpendicular downward, and the gripper of the rotary clamping cylinder can rotate 90 degrees horizontally around the vertical axis.

[0011] The above technical solution, through the equidistant arrangement of four workstations combined with the design of linear cylinder grippers vertically downward and rotary grippers rotating 90 degrees horizontally, accurately adapts to the end face marking requirements of the spindle unloading rod. The problem of special structure posture conversion is solved by two flips, reducing the need for manual intervention.

[0012] Furthermore, a cable chain groove is installed on the rear side of the mounting bracket, and a cylinder cable chain is installed inside the cable chain groove. One end of the cylinder cable chain is fixed to the base of the cable chain groove, and a connecting plate is installed on the front side of the sliding seat. The end of the cylinder cable chain away from the cable chain groove is installed with the rear side of the connecting plate.

[0013] The above technical solution uses a connecting plate to anchor the cable chain and cylinder cable chain to the sliding seat, which restricts the swing amplitude of the pneumatic pipeline during lateral sliding, reduces the risk of pipeline wear and entanglement, and extends the service life of the equipment.

[0014] Furthermore, cable tie fixing seats are installed on the front and top surfaces of the connecting plate. The cable tie fixing seats have a U-shaped groove structure and are used to bundle pneumatic pipelines.

[0015] The above technical solution uses U-shaped cable tie fixing seats distributed on the front and top surfaces of the connecting plate to secure multiple pneumatic pipelines, preventing pipelines from loosening during lifting and lowering movements, ensuring the stability of the air circuit, and simplifying the maintenance process.

[0016] Furthermore, several solenoid valves are installed on the rear side of the mounting bracket, and the pneumatic pipelines of the linear cylinder, rotary clamping cylinder, sliding cylinder and lifting cylinder are connected to the solenoid valve interface through the cylinder drag chain.

[0017] The above technical solution involves centrally installing the solenoid valves on the rear side of the mounting bracket, and directly connecting the pneumatic pipeline to the solenoid valve interface after passing through the cylinder drag chain. This shortens the pipeline length, reduces air pressure loss, and improves the cylinder response speed and control accuracy.

[0018] Furthermore, two first limiting plates are installed on the front side of the mounting bracket near both ends, and first buffers are installed on the two adjacent sides of the two first limiting plates. The first buffers are used to limit and buffer the sliding seat. Second limiting plates are installed at the four work positions on the front side of the sliding seat, and second buffers are installed on the top surface of the second limiting plates to limit and buffer the mounting plate.

[0019] The above technical solution limits the lateral displacement range of the sliding seat by the first limiting plate and the first buffer, and suppresses the inertial impact of the lifting and lowering of the mounting plate by the second limiting plate and the second buffer. The dual buffer system reduces the risk of the spindle rod falling off due to mechanical vibration.

[0020] The beneficial effects of this utility model are as follows: By employing a four-station actuator layout on the front of the mounting bracket, combined with the sliding cylinders of the drive mechanism driving the sliding seat to move laterally along the transverse guide rail, and the independent lifting cylinders of each station driving the mounting plate to rise and fall vertically along the vertical guide rail, a fully automated continuous operation of the bar-removing and marking process is achieved. The four stations operate collaboratively: when the first station picks up a new bar, the second station simultaneously transfers the assembly parts; the third station uses a rotary clamping cylinder to complete a 90-degree horizontal flip and transfer inspection; and the fourth station performs marking and loading, forming a closed-loop production line. This multi-task parallel mechanism significantly shortens the processing time per piece, avoids equipment idleness caused by alternating processes in traditional robotic arms, and improves production efficiency.

[0021] The robotic arm employs a layered guiding design: the horizontal guide rail ensures the overall positioning accuracy of the sliding seat, while the vertical guide rail guides the lifting trajectory of the mounting plate, reducing the repeatability error of the cylinders at each station. A limiting and buffering system further enhances stability: the first limiting plates and first buffers at both ends of the mounting bracket constrain the lateral displacement range of the sliding seat; the second buffers at the top of the second limiting plates at each station suppress the inertial impact of the lifting of the mounting plate, preventing the unloading rod from falling off or shifting during high-speed transfer.

[0022] The pneumatic pipeline adopts integrated management of drag chain channels and cylinder drag chains: one end of the cylinder drag chain is fixed to the mounting bracket, and the other end is anchored to the sliding seat via the connecting plate to avoid the pipeline from getting tangled and worn during sliding; the U-shaped groove fixing seat on the front side of the connecting plate uses cable ties to bundle the pipeline, improving reliability. Attached Figure Description

[0023] Figure 1 This is a front-view three-dimensional structural diagram of a four-unit robotic arm for a bar marking machine according to this utility model; Figure 2 This is a rear-view three-dimensional structural diagram of a four-unit robotic arm for a bar marking machine according to this utility model; Figure 3 This is a three-dimensional structural diagram of the sliding seat of a four-link manipulator for a bar marking machine according to this utility model; Figure 4 This is a perspective view of the mounting plate of a four-piece robotic arm for a bar marking machine according to this utility model; Figure 5 This is a three-dimensional view of a four-piece robotic arm for a spindle bar marking machine, which is mounted on a laser marking machine.

[0024] Reference numerals: 1. Mounting bracket; 2. Sliding seat; 201. Linear cylinder; 202. Rotary clamping cylinder; 203. Horizontal guide rail; 204. Vertical guide rail; 205. Mounting plate; 3. Sliding cylinder; 301. Lifting cylinder; 302. Cable chain groove; 303. Cylinder cable chain; 304. Connecting plate; 305. Cable tie fixing seat; 4. Solenoid valve; 5. First limit plate; 501. First buffer; 502. Second limit plate; 503. Second buffer. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0026] like Figure 1-5As shown in this embodiment, a four-unit robotic arm for a bar marking machine includes a mounting bracket 1, which is installed at the end of the feeding conveyor of the bar marking machine. The bar marking machine itself includes a base, a feeding conveyor mounted on the front of the base, and a four-unit robotic arm installed at the end of the feeding conveyor. Below the four-unit robotic arm are an assembly mechanism, a flipping mechanism, a defect detection mechanism, a marking mechanism, and a pneumatic movable frame. A module robotic arm and a feeding conveyor are mounted on one side of the pneumatic movable frame. These structures are inherent to the marking machine and will not be described in detail here. An execution mechanism is provided on the front of the mounting bracket 1 for gripping the bar. Driving mechanisms are provided on the top and front of the mounting bracket 1 for driving... The actuator grips the unloading rod. The actuator includes a transverse guide rail 203 mounted on the front side of the mounting bracket 1. A sliding seat 2 is slidably mounted on the outer wall of the transverse guide rail 203. Four mounting positions are arranged equidistantly along the front side of the sliding seat 2. Vertical guide rails 204 are mounted on the front side of the sliding seat 2 at the four positions. Mounting plates 205 are slidably mounted on the outer wall of the vertical guide rails 204. Linear cylinders 201 are mounted on the mounting plates 205 at the first, second, and fourth positions. A rotary clamping cylinder 202 is mounted on the mounting plate 205 at the third position. The gripper of the linear cylinder 201 is axially vertically downward, and the gripper of the rotary clamping cylinder 202 can rotate horizontally by ninety degrees around the vertical axis. When the bar pick is vertically conveyed to the first station by the feeding mechanism of the marking machine, the drive mechanism of this station drives the mounting plate 205 to move down along the vertical guide rail 204, and the vertical downward gripper of the linear cylinder 201 precisely grabs the bar pick. Then, the drive mechanism pushes the sliding seat 2 to move laterally along the transverse guide rail 203, so that the first station moves above the assembly station. The drive mechanism drives the linear cylinder 201 to move down a second time to insert the bar pick into the assembly port. After the sliding seat 2 is reset, the linear cylinder 201 of the second station simultaneously grabs the assembled bar pick and moves it to the flipping area. At this time, the rotary clamping cylinder 202 of the third station moves down to grab the bar pick, and its gripper rotates 90 degrees horizontally around the vertical axis, turning the bar pick from a left-facing tip to a forward-facing detection position and moving it to the detection table. Finally, the linear cylinder 201 of the fourth station moves the qualified bar pick to the marking area to complete the marking. The four workstations form a closed-loop production line for gripping, assembling, flipping, and marking through a coordinated mechanism of synchronous lateral movement of the sliding seat 2 and independent lifting of each workstation. Vertical gripping and transfer are performed by the linear cylinders 201 of the first, second, and fourth workstations, while the rotary clamping cylinder 202 of the third workstation performs a 90-degree horizontal flip. The coordinated operation of the four workstations avoids equipment idleness during process alternation and increases production efficiency.

[0027] The drive mechanism includes a sliding cylinder 3 mounted on the top surface of the mounting bracket 1. The output shaft of the sliding cylinder 3 is mounted on one side of the sliding seat 2 to drive the sliding seat 2 to slide laterally. Lifting cylinders 301 are mounted above each of the four positions of the sliding seat 2 to drive the linear cylinder 201 and the rotary clamping cylinder 202 to lift vertically. The output shaft of the lifting cylinder 301 is mounted on the top surface of the mounting plate 205. A cable chain groove 302 is mounted on the rear side of the mounting bracket 1. A cylinder cable chain 303 is installed inside the cable chain groove 302. One end of the cylinder cable chain 303 is mounted to the inner base of the cable chain groove 302. A connecting plate 304 is mounted on the front side of the sliding seat 2. One end of 303, away from the drag chain groove 302, is installed on the rear side of the connecting plate 304. Cable tie fixing seats 305 are installed on the front and top surfaces of the connecting plate 304. The cable tie fixing seats 305 have a U-shaped groove structure and are used to bundle pneumatic pipelines. Several solenoid valves 4 are installed on the rear side of the mounting bracket 1. The pneumatic pipelines of the linear cylinder 201, rotary clamping cylinder 202, sliding cylinder 3, and lifting cylinder 301 are connected to the solenoid valve 4 interfaces by passing through the cylinder drag chain 303. When the control system issues a lateral movement command, the solenoid valve 4 on the rear side of the mounting bracket 1 activates the sliding cylinder 3 to supply air, pushing the output shaft to drive the sliding seat 2 to move laterally along the front side of the mounting bracket 1. Simultaneously, the lifting cylinders 301 of each workstation are independently controlled by the solenoid valves 4. The output shaft of the lifting cylinder 301 pushes the mounting plate 205 to rise and fall vertically along the vertical guide rail 204, driving the linear cylinder 201 or the rotary clamping cylinder 202 to perform gripping or releasing actions. The pneumatic pipeline is led out from the interface of the solenoid valve 4 and passes into the cylinder drag chain 303. It extends and retracts with the movement of the sliding seat 2. One end of the drag chain is fixed to the drag chain groove 302, and the other end is anchored by the connecting plate 304 to constrain the swing amplitude of the pipeline. The U-shaped groove cable tie fixing seat 305 on the front and top surface of the connecting plate 304 uses cable ties to bind multiple pneumatic pipelines to prevent the pipelines from loosening or tangling during lifting and sliding.

[0028] Two first limiting plates 5 are installed on the front side of the mounting bracket 1 near both ends. First buffers 501 are installed on the two sides of the two first limiting plates 5 that are close to each other. The first buffers 501 are used to limit and buffer the sliding seat 2. Second limiting plates 502 are installed at the four work positions on the front side of the sliding seat 2. Second buffers 503 are installed on the top surface of the second limiting plates 502 to limit and buffer the mounting plate 205. The first limiting plates 5 and the first buffers 501 limit the lateral displacement range of the sliding seat 2. The second limiting plates 502 and the second buffers 503 suppress the inertial impact of the lifting of the mounting plate 205. The double buffer system reduces the risk of the spindle rod falling off due to mechanical vibration.

[0029] The working principle of this embodiment is as follows: When the bar is vertically conveyed to the first station by the feeding conveyor of the marking machine, the lifting cylinder 301 drives the mounting plate 205 to move down along the vertical guide rail 204, so that the gripper of the linear cylinder 201 of the first station grabs the bar; then the sliding cylinder 3 pushes the sliding seat 2 to move laterally along the horizontal guide rail 203, moving the first station above the assembly mechanism of the marking machine. At this time, the lifting cylinder 301 drives the linear cylinder 201 to move down again, so that the end of the bar is accurately inserted into the assembly port of the assembly mechanism to complete the end assembly. After assembly, the sliding seat 2 is reset as a whole. The linear cylinder 201 of the first station returns to its original position to grab the new ingot removal rod. At the same time, the linear cylinder 201 of the second station moves with the sliding seat 2 to the top of the assembly mechanism and moves down to grab the assembled ingot removal rod. Then the sliding seat 2 moves laterally for the second time, so that the second station moves to the top of the flipping mechanism of the marking machine. The linear cylinder 201 places the ingot removal rod on the flipping mechanism, and the flipping mechanism performs the first horizontal flipping, turning the tip of the ingot removal rod from upward to left. At the same time, the first station moves the new ingot removal rod to the assembly mechanism. After the sliding seat 2 resets again, the rotary clamping cylinder 202 of the third station moves to the corresponding position of the flipping mechanism, and the lifting cylinder 301 drives it to move down to grab the ingot removal rod after the first flipping; the gripper of the rotary clamping cylinder 202 rotates ninety degrees around the vertical axis, so that the tip of the ingot removal rod turns from facing left to facing forward, completing the posture adaptation; then the sliding seat 2 continues to move laterally, moving the third station to the top of the defect detection mechanism of the marking machine, and the rotary clamping cylinder 202 releases the ingot removal rod for defect detection; After the inspection is completed, the sliding seat 2 is reset, and the linear cylinder 201 of the fourth station moves to the top of the defect inspection mechanism placement frame and moves down to grab the qualified ingot removal rod; the sliding seat 2 moves laterally for the last time to move the fourth station to the top of the marking mechanism movable frame, and the linear cylinder 201 places the ingot removal rod on the movable frame, where the marking mechanism completes the marking; the movable frame then transports the ingot removal rod to the module robot arm of the marking machine for unloading, while the first station has started a new round of grabbing, forming a closed-loop production line; The entire pneumatic operation is centrally controlled by the solenoid valve 4 on the rear side of the mounting bracket 1. The pneumatic pipelines of each cylinder pass through the cylinder drag chain 303. One end of the drag chain is fixed to the drag chain groove 302, and the other end is anchored to the sliding seat 2 via the connecting plate 304. The U-shaped groove cable tie fixing seat 305 uses cable ties to bind the pipelines to prevent the pipelines from coming loose during lifting and sliding. The first limit plate 5 and the first buffer 501 limit the lateral displacement of the sliding seat 2 to exceed the limit. The second limit plate 502 and the second buffer 503 absorb the impact of the lifting of the mounting plate 205 to ensure smooth movement.

[0030] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model.

Claims

1. A four-piece robotic arm for a bar marking machine, comprising a mounting bracket (1), characterized in that, An actuator is provided on the front side of the mounting bracket (1) for gripping the spindle bar. A drive mechanism is provided on the top surface and the front side of the mounting bracket (1) for driving the actuator to grip the spindle bar. The actuator includes a sliding seat (2) located on the front side of the mounting bracket (1). The front side of the sliding seat (2) is provided with four installation stations, of which linear cylinders (201) are installed at the first station, the second station and the fourth station, and a rotary clamping cylinder (202) is installed at the third station. The driving mechanism includes a sliding cylinder (3) installed on the top surface of the mounting bracket (1). The output shaft of the sliding cylinder (3) is installed on one side of the sliding seat (2) to drive the sliding seat (2) to slide laterally. Lifting cylinders (301) are installed above the four work positions of the sliding seat (2) to drive the linear cylinder (201) and the rotary clamping cylinder (202) to lift vertically.

2. The four-unit robotic arm for a spindle marking machine according to claim 1, characterized in that, The front side of the mounting bracket (1) is equipped with a horizontal guide rail (203), the sliding seat (2) is slidably disposed on the outer wall of the horizontal guide rail (203), the front side of the sliding seat (2) is equipped with vertical guide rails (204) at four work positions respectively, the outer wall of the vertical guide rail (204) is slidably disposed with mounting plates (205), the output shaft of the lifting cylinder (301) is installed on the top surface of the mounting plate (205), and the linear cylinder (201) and the rotary clamping cylinder (202) are respectively installed on the front side of the corresponding mounting plates (205).

3. The four-unit robotic arm for a spindle marking machine according to claim 2, characterized in that, The four workstations are arranged equidistantly along the front side of the sliding seat (2). The gripper of the linear cylinder (201) is axially perpendicular downward, and the gripper of the rotating clamping cylinder (202) can rotate horizontally by ninety degrees around the vertical axis.

4. The four-unit robotic arm for a spindle marking machine according to claim 3, characterized in that, The mounting bracket (1) is equipped with a cable chain groove (302) on the rear side. A cylinder cable chain (303) is installed inside the cable chain groove (302). One end of the cylinder cable chain (303) is fixed to the base of the cable chain groove (302). A connecting plate (304) is installed on the front side of the sliding seat (2). The end of the cylinder cable chain (303) away from the cable chain groove (302) is installed on the rear side of the connecting plate (304).

5. A four-unit robotic arm for a spindle marking machine according to claim 4, characterized in that, The front and top surfaces of the connecting plate (304) are equipped with cable tie fixing seats (305), which are U-shaped groove structures used for bundling pneumatic pipelines.

6. A four-unit robotic arm for a spindle marking machine according to claim 5, characterized in that, Several solenoid valves (4) are installed on the rear side of the mounting bracket (1). The pneumatic pipelines of the linear cylinder (201), the rotary clamping cylinder (202), the sliding cylinder (3) and the lifting cylinder (301) are connected to the interface of the solenoid valves (4) through the cylinder drag chain (303).

7. A four-unit robotic arm for a spindle marking machine according to claim 6, characterized in that, Two first limiting plates (5) are installed on the front side of the mounting bracket (1) near both ends. A first buffer (501) is installed on both sides of the two first limiting plates (5) that are close to each other. The first buffer (501) is used to limit and buffer the sliding seat (2). A second limiting plate (502) is installed at each of the four work positions on the front side of the sliding seat (2). A second buffer (503) is installed on the top surface of the second limiting plate (502) to limit and buffer the mounting plate (205).

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