Multi-station multi-angle mechanical hand for impregnator

Abstract

The utility model belongs to the technical field of impregnator, especially involves a multi -position multi -angle manipulator for impregnator, include: synchronous belt double -action sub -moving mechanism has first mobile end and second mobile end, feeding mechanism includes first lifting assembly and first grabbing assembly, first lifting assembly sets up in first mobile end, first grabbing assembly sets up in first lifting assembly, discharging mechanism includes second lifting assembly, first angle adjusting assembly, second angle adjusting assembly and second grabbing assembly, second lifting assembly sets up in second mobile end, first angle adjusting assembly is located on second lifting assembly, second angle adjusting assembly is located on first angle adjusting assembly, second grabbing assembly is located on second angle adjusting assembly, the output shaft of first angle adjusting assembly is perpendicular with the output shaft of second angle adjusting assembly, this manipulator can avoid traditional single -position manipulator feeding, waiting, the serial flow of unloading process, and the overall operation efficiency of impregnator is greatly promoted.

Description

Technical Field

[0001] This application relates to the field of impregnation machine technology, and in particular to a multi-station, multi-angle robotic arm for an impregnation machine. Background Technology

[0002] In modern industrial production, automated production lines play a crucial role in improving production efficiency and ensuring consistent product quality, and have become an important support for the development of the manufacturing industry. However, in related technologies, a single robotic arm can typically only perform basic material transport between two processes, making it unsuitable for the complex production processes involving multiple interconnected processes in industries such as electronics and machinery manufacturing. This necessitates the additional configuration of multiple single-function robotic arms on the production line, increasing process complexity.

[0003] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0004] In view of at least one of the above technical problems, this application provides a multi-station, multi-angle robot for an immersion machine.

[0005] This application provides a multi-station, multi-angle robotic arm for an immersion machine, comprising: The synchronous belt double-acting sub-moving mechanism has a first moving end and a second moving end; The feeding mechanism includes a first lifting component and a first gripping component, wherein the first lifting component is disposed on the first moving end and the first gripping component is disposed on the first lifting component; The unloading mechanism includes a second lifting component, a first angle adjusting component, a second angle adjusting component, and a second gripping component. The second lifting component is disposed on the second moving end, the first angle adjusting component is disposed on the second lifting component, the second angle adjusting component is disposed on the first angle adjusting component, and the second gripping component is disposed on the second angle adjusting component. The output shaft of the first angle adjusting component is perpendicular to the output shaft of the second angle adjusting component.

[0006] This robotic arm drives the loading and unloading mechanisms to perform loading and unloading processes synchronously via a synchronous belt double-actuator moving mechanism. This avoids the serial process of loading, waiting, and unloading in traditional single-station robotic arms, significantly improving the overall operating efficiency of the impregnation machine. In addition, the unloading mechanism is equipped with first and second angle adjustment components, and the output shafts of the two are perpendicular. This allows for multi-angle adjustment of the workpiece in two vertical dimensions, which can accommodate the differences in pick-up and placement angles of the workpiece after impregnation due to different shapes and impregnation process requirements. It also meets the requirements of subsequent processes for the placement angle of the workpiece.

[0007] In some possible implementations, the first lifting component includes: The first seat is located on the first mobile terminal; The first lead screw transmission unit is rotatably mounted on the first base; The first connecting block is fixed to the output end of the first lead screw transmission unit; The first guide rod has two parts. One end of the first guide rod is fixed to the first connecting block, and the other end of the first guide rod passes through the first base body. A first movable seat is connected to a first guide rod, and a first gripping component is disposed on the first movable seat; The first drive motor is mounted on the first base, and the output end of the first drive motor is connected to the first lead screw drive unit through the pulley drive unit.

[0008] In some possible implementations, the first fetching component includes: The second seat is located at the output end of the first lifting assembly; The first half-clamp is pivotally connected to the second seat; The second half-clamp is pivotally connected to the second seat body and engages with the first half-clamp; The first drive cylinder is fixed on the first half-clamp, and the output end of the first drive cylinder is connected to the second half-clamp.

[0009] In some possible implementations, the first angle adjustment component includes: The second drive motor is located on the output end of the second lifting component, and the output end of the second drive motor is defined as the output shaft of the first angle adjustment component. The first connecting plate is located on the output end of the second drive motor.

[0010] In some possible implementations, the second angle adjustment component includes: The third drive motor is mounted on the first connecting plate; A rotating shaft unit is mounted on the first connecting plate. The rotating shaft unit is connected to the output end of the third drive motor through a pulley transmission unit. The second gripping component is mounted on the rotating shaft unit. The central axis of the rotating shaft unit is defined as the output shaft of the second angle adjustment component.

[0011] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1A structural schematic diagram of the multi-station, multi-angle manipulator for the immersion machine provided in this application; Figure 2 A structural diagram of the feeding mechanism provided in this application; In the diagram: 100, Synchronous belt double-acting sub-moving mechanism; 200. Feeding mechanism; 210. First lifting assembly; 220. First gripping assembly; 211. First base; 212. First lead screw transmission mechanism; 213. First connecting block; 214. First guide rod; 215. First movable seat; 216. First drive motor; 221. Second seat; 222. First half-clamp; 223. Second half-clamp; 224. First drive cylinder; 300. Feeding mechanism; 310. Second lifting assembly; 320. First angle adjustment assembly; 330. Second angle adjustment assembly; 340. Second gripping assembly; 321. Second drive motor; 322. First connecting plate; 331. Third drive motor; 332. Rotating shaft unit; Detailed Implementation

[0014] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0015] Please see Figure 1 , Figure 1 A structural schematic diagram of the multi-station, multi-angle manipulator for the immersion machine provided in this application; Figure 2 A schematic diagram of the feeding mechanism provided in this application.

[0016] A multi-station, multi-angle manipulator for an impregnation machine includes: a synchronous belt double-actuator moving mechanism 100 having a first moving end and a second moving end; a feeding mechanism 200 including a first lifting component 210 and a first gripping component 220, the first lifting component 210 being disposed on the first moving end, and the first gripping component 220 being disposed on the first lifting component 210; and a discharging mechanism 300 including a second lifting component 310, a first angle adjusting component 320, a second angle adjusting component 330, and a second gripping component 340, the second lifting component 310 being disposed on the second moving end, the first angle adjusting component 320 being disposed on the second lifting component 310, the second angle adjusting component 330 being disposed on the first angle adjusting component 320, and the second gripping component 340 being disposed on the second angle adjusting component 330, wherein the output shaft of the first angle adjusting component 320 is perpendicular to the output shaft of the second angle adjusting component 330.

[0017] The synchronous belt double-acting sub-moving mechanism 100 is in its initial state, with the first moving end and the second moving end spaced apart. When the synchronous belt double-acting sub-moving mechanism 100 is started, its first moving end and second moving end move synchronously, respectively driving the loading mechanism 200 and the unloading mechanism 300 to move along the preset track, so as to realize the parallel operation of the loading and unloading processes.

[0018] When the loading process is performed, the first moving end drives the loading mechanism 200 to the workpiece loading station. The first lifting component 210 starts according to the initial height of the workpiece, driving the first gripping component 220 to rise and fall vertically until the gripping position of the first gripping component 220 is aligned with the workpiece. The first gripping component 220 moves to clamp the workpiece to be impregnated. The first lifting component 210 starts again, driving the gripping component 220 with the workpiece to return to the preset height. Then the first moving end drives the loading mechanism 200 to the workpiece placement station of the impregnation machine. The first lifting component 210 starts for the third time, driving the workpiece to fall into the tooling of the impregnation machine. The first gripping component 220 releases, completing the loading.

[0019] When the unloading process is performed, synchronously with the loading process, the second moving end drives the unloading mechanism 300 to move to the workpiece removal station of the impregnation machine. The second lifting component 310 is activated, driving the second gripping component 340 and the connected first and second angle adjustment components 330 to descend to the gripping height of the impregnated workpiece. The second gripping component 340 clamps the impregnated workpiece. The second lifting component 310 lifts the workpiece to a preset height, and the second moving end drives the unloading mechanism 300 to move towards the workpiece unloading station. During the movement, according to the unloading requirements or subsequent... The process requires an adjustable workpiece angle. The first angle adjustment component 320 is activated, and its output shaft drives the second angle adjustment component 330 and the second gripping component 340 to rotate around the first axis, thereby adjusting the workpiece angle in the first dimension. Simultaneously, the second angle adjustment component 330 is activated, and its output shaft drives the second gripping component 340 to rotate around the second axis, thereby adjusting the workpiece angle in the second dimension. After the unloading mechanism 300 reaches the unloading station, the second lifting component 310 drives the workpiece to descend to the unloading platform, and the second gripping component 340 releases, completing the unloading process.

[0020] This robotic arm drives the loading mechanism 200 and the unloading mechanism 300 to perform loading and unloading processes simultaneously through a synchronous belt double-actuator moving mechanism 100. This avoids the serial process of loading, waiting and unloading processes of traditional single-station robotic arms, and greatly improves the overall operating efficiency of the impregnation machine. In addition, the unloading mechanism 300 is equipped with first and second angle adjustment components 330, and the output axes of the two are perpendicular. This allows for multi-angle adjustment of the workpiece in two vertical dimensions, which can adapt to the differences in pick-up and placement angles of the workpiece after impregnation due to different shapes and impregnation process requirements, and at the same time meet the requirements of subsequent processes for the placement angle of the workpiece.

[0021] like Figure 1 As shown, in some embodiments, the first lifting assembly 210 includes: a first base 211 disposed on a first movable end; a first lead screw transmission unit 212 rotatably disposed on the first base 211; a first connecting block 213 fixed to the output end of the first lead screw transmission unit 212; two first guide rods 214, one end of the first guide rod 214 fixed to the first connecting block 213, and the other end of the first guide rod 214 passing through the first base 211; a first movable seat 215 connected to the first guide rod 214, and a first gripping assembly 220 disposed on the first movable seat 215; a first drive motor 216 disposed on the first base 211, and the output end of the first drive motor 216 connected to the first lead screw transmission unit 212 through a pulley transmission unit.

[0022] When the gripping height of the feeding mechanism 200 needs to be adjusted, the first drive motor 216 starts, and its output end is transmitted to the first lead screw transmission unit 212 through the pulley transmission unit. The first lead screw transmission unit 212 rotates under the action of the first drive motor 216, and its output end drives the fixedly connected first connecting block 213 to move along the lead screw axis. The first connecting block 213 drives the two first guide rods 214, whose two ends are respectively fixed to it and pass through the first base 211, to move synchronously. The first guide rods 214 slide along the through holes of the first base 211 to achieve precise guidance of the movement direction. At the same time, the first guide rods 214 drive the first moving seat 215 connected to it to move synchronously along the guiding direction. The first moving seat 215 drives the first gripping component 220 fixed on it to reach the preset height, and the first drive motor 216 stops, completing the height adjustment.

[0023] In the first lifting assembly 210, a combination of a lead screw drive unit and double guide rods is used. The lead screw drive features high precision and low backlash, while the double guide rods effectively suppress the swaying or offset of the first moving seat 215, ensuring the lifting position accuracy of the first gripping assembly 220 and preventing unstable workpiece gripping or inaccurate placement into the impregnation machine fixture due to height deviation. Furthermore, the double guide rod design distributes the weight of the first moving seat 215, the first gripping assembly 220, and the workpiece, preventing bending or wear caused by excessive force on a single guide rod, thus improving the load-bearing capacity and service life of the first lifting assembly 210.

[0024] like Figure 1 As shown, in some embodiments, the first gripping component 220 includes: a second base 221 disposed at the output end of the first lifting component 210; a first half-clamp 222 pivotally connected to the second base 221; a second half-clamp 223 pivotally connected to the second base 221 and engaging with the first half-clamp 222; and a first driving cylinder 224 fixed to the first half-clamp 222, the output end of the first driving cylinder 224 being connected to the second half-clamp 223.

[0025] Both the clamping ends of the first half-clamp 222 and the second half-clamp 223 are equipped with rubber tubes. When clamping, the rubber tubes contact the workpiece, thereby increasing the clamping strength between the first half-clamp 222, the second half-clamp 223 and the workpiece.

[0026] After the first gripping assembly 220 reaches the workpiece gripping height along with the first lifting assembly 210, the first driving cylinder 224 is in its initial state. At this time, the first half-clamp 222 and the second half-clamp 223 are in an open state under the constraint of the meshing structure. The piston rod of the first driving cylinder 224 extends, and its output end pushes the second half-clamp 223 to rotate around the pivot point with the second seat 221. Since the second half-clamp 223 meshes with the first half-clamp 222, the rotation of the second half-clamp 223 drives the first half-clamp 222 to rotate synchronously in the opposite direction around its own pivot point, so that the clamping ends of the two half-clamps move closer to each other until the workpiece is clamped. When it is necessary to place the workpiece, the piston rod of the first driving cylinder 224 retracts, pulling the second half-clamp 223 to rotate in the opposite direction, which in turn drives the first half-clamp 222 to rotate synchronously in the opposite direction, and the clamping ends of the two half-clamps move away from each other, releasing the workpiece.

[0027] The first half-clamp 222 and the second half-clamp 223 are connected by an engagement structure and driven by the same first drive cylinder 224, which can ensure that the two half-clamps open and close synchronously, avoiding workpiece displacement, damage or fall off due to asynchronous opening and closing. It is especially suitable for cylindrical, irregularly shaped and other workpieces that are easy to shift.

[0028] like Figure 1 As shown, in some embodiments, the structure and working principle of the second lifting component 310 are the same as those of the first lifting component 210, and will not be described again here.

[0029] like Figure 1 As shown, in some embodiments, the first angle adjustment component 320 includes: a second drive motor 321 disposed on the output end of the second lifting component 310, the output end of the second drive motor 321 being defined as the output shaft of the first angle adjustment component 320; and a first connecting plate 322 disposed on the output end of the second drive motor 321.

[0030] When it is necessary to adjust the first dimension angle of the workpiece in the unloading mechanism 300, the second drive motor 321 starts and its output end begins to rotate. The output shaft of the second drive motor 321 drives the first connecting plate 322 fixed thereon to rotate synchronously. The first connecting plate 322 drives the second angle adjustment component 330 and the second gripping component 340 (and the workpiece held thereon) connected to it to rotate around the output shaft of the first angle adjustment component 320.

[0031] like Figure 1 As shown, in some embodiments, the second angle adjustment component 330 includes: a third drive motor 331 disposed on the first connecting plate 322; a rotating shaft unit 332 disposed on the first connecting plate 322, the rotating shaft unit 332 being connected to the output end of the third drive motor 331 via a pulley transmission unit; a second gripping component 340 disposed on the rotating shaft unit 332; and the central axis of the rotating shaft unit 332 being defined as the output shaft of the second angle adjustment component 330.

[0032] The rotating shaft unit 332 includes a housing, a shaft and a bearing assembly. The housing is mounted on the first connecting plate 322, the shaft is disposed in the housing through the bearing assembly, one end of the shaft passes through the housing, and the second gripping assembly 340 is connected to the shaft.

[0033] The second gripping component 340 includes a connecting seat, a third half-clamp, a fourth half-clamp, and a second drive cylinder. The connecting seat is sleeved on the shaft, the third half-clamp is pivotally connected to the connecting seat, the fourth half-clamp is pivotally connected to the connecting seat and meshes with the third half-clamp, the second drive cylinder is fixed on the third half-clamp, and the output end of the second drive cylinder is connected to the fourth half-clamp.

[0034] The first gripping component 220 includes: a second base 221 disposed at the output end of the first lifting component 210; a first half-clamp 222 pivotally connected to the second base 221; a second half-clamp 223 pivotally connected to the second base 221 and engaging with the first half-clamp 222; and a first driving cylinder 224 fixed to the first half-clamp 222, the output end of the first driving cylinder 224 being connected to the second half-clamp 223.

[0035] When it is necessary to adjust the workpiece angle in a dimension perpendicular to the first angle adjustment component 320, the third drive motor 331 starts, and its output torque is transmitted to the rotating shaft unit 332 through the pulley transmission unit. Under the action of torque, the rotating shaft unit 332 rotates around its own central axis, and the rotating shaft unit 332 drives the second gripping component 340 fixed thereon to rotate synchronously.

[0036] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "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 application 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 application.

[0037] In the description of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through 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. "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.

[0038] 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.

[0039] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In the embodiments of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0041] The above are merely preferred embodiments of this application and do not constitute any limitation on this application. Any person skilled in the art can make many possible variations and modifications to the technical solution of this application, or modify it into equivalent embodiments, without departing from the scope of the technical solution of this application. Therefore, all equivalent changes made based on the shape, structure, and principle of this application without departing from the content of the technical solution of this application should be covered within the protection scope of this application.

Claims

1. A multi-station, multi-angle robotic arm for an impregnation machine, characterized in that, include: The synchronous belt double-acting sub-moving mechanism has a first moving end and a second moving end; The feeding mechanism includes a first lifting component and a first gripping component, wherein the first lifting component is disposed on the first moving end and the first gripping component is disposed on the first lifting component; The unloading mechanism includes a second lifting component, a first angle adjustment component, a second angle adjustment component, and a second gripping component. The second lifting component is disposed on the second moving end. The first angle adjustment component is disposed on the second lifting component. The second angle adjustment component is disposed on the first angle adjustment component. The second gripping component is disposed on the second angle adjustment component. The output shaft of the first angle adjustment component is perpendicular to the output shaft of the second angle adjustment component.

2. The multi-station, multi-angle robotic arm for an impregnation machine according to claim 1, characterized in that, The first lifting component includes: The first seat is disposed on the first mobile terminal; The first lead screw transmission unit is rotatably mounted on the first base; The first connecting block is fixed to the output end of the first lead screw transmission unit; The first guide rod has two parts. One end of the first guide rod is fixed to the first connecting block, and the other end of the first guide rod passes through the first base. A first movable seat is connected to the first guide rod, and the first gripping component is disposed on the first movable seat; A first drive motor is mounted on the first base, and the output end of the first drive motor is connected to the first lead screw drive unit through a pulley drive unit.

3. The multi-station, multi-angle robotic arm for an impregnation machine according to claim 1, characterized in that, The first crawling component includes: The second seat is located at the output end of the first lifting component; The first half-clamp is pivotally connected to the second seat body; The second half-clamp is pivotally connected to the second seat body and engages with the first half-clamp; A first drive cylinder is fixed to the first half-clamp, and the output end of the first drive cylinder is connected to the second half-clamp.

4. The multi-station, multi-angle robotic arm for an impregnation machine according to claim 1, characterized in that, The first angle adjustment component includes: The second drive motor is disposed on the output end of the second lifting component, and the output end of the second drive motor is defined as the output shaft of the first angle adjustment component. The first connecting plate is disposed on the output end of the second drive motor.

5. The multi-station, multi-angle robotic arm for an impregnation machine according to claim 4, characterized in that, The second angle adjustment component includes: The third drive motor is mounted on the first connecting plate; A rotating shaft unit is disposed on the first connecting plate. The rotating shaft unit is connected to the output end of the third drive motor through a pulley transmission unit. The second gripping component is disposed on the rotating shaft unit. The central axis of the rotating shaft unit is defined as the output shaft of the second angle adjustment component.

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