A three-station, dual-claw PPU high-speed transfer robot

Abstract

This application relates to a three-station, dual-claw PPU high-speed transfer robot, belonging to the technical field of synchronizer assembly. The robot includes three gripping mechanisms, each comprising: a guide rail, including a horizontal section and two vertical sections located at the ends of the two horizontal sections and arranged vertically downwards; a first movable seat, horizontally slidably mounted on the robot body; a second movable seat, vertically slidably mounted on the first movable seat and slidably mounted on the guide rail via a connecting assembly; a drive assembly for driving the second movable seat to move along the guide rail; and a gripping assembly mounted on the second movable seat for gripping the ring. This application achieves the transport of the ring with only a drive assembly and a guide rail, and ensures that the gripping assembly and the ring are transported along an actual trajectory, improving the stability during ring transport, the stability during assembly, and the convenience of equipment maintenance.

Description

Technical Field

[0001] This application relates to the technical field of synchronizer assembly, and in particular to a three-station dual-claw PPU high-speed transfer robot. Background Technology

[0002] The synchronizer's gear ring assembly consists of three rings: an outer ring, a middle ring, and an inner ring. Assembly is achieved through an assembly mechanism, which includes a conveyor belt, an assembly line, and a robot. The conveyor belt is used to transport the three rings, the assembly line is used to transport the tooling used during assembly, and the robot grabs the protective body from the conveyor belt and transports it to the tooling to complete the assembly.

[0003] The robotic arm includes a first movable base, a second movable base, a gripper, and two drive units. The first movable base is horizontally slidably mounted on the machine body, and the second movable base is vertically slidably mounted on the first movable base. The gripper is mounted on the second movable base and is used to grip the ring body. The two drive units are used to drive the first and second movable bases to move respectively. Therefore, the gripper needs to cooperate with the two drive units to grip the conveying ring body, which reduces the stability during assembly and the convenience of equipment maintenance. Utility Model Content

[0004] To improve stability during assembly and ease of equipment maintenance, this application provides a three-station, dual-jaw PPU high-speed transfer robot.

[0005] This application provides a three-station, dual-claw PPU high-speed transfer robot, which adopts the following technical solution: A three-station, dual-claw PPU high-speed transfer robot includes three gripping mechanisms, each gripping mechanism comprising: The guide rail is mounted on the machine body and includes a horizontal section that is horizontal in a horizontal state and two vertical sections located at both ends of the two horizontal sections and arranged vertically downwards. The movable base is horizontally slidably mounted on the machine body; The second movable seat is vertically slidably mounted on the first movable seat and slidably mounted on the guide rail via a connecting component; Drive assembly, used to drive the movable seat two to move along the guide rail; The gripping component is mounted on the second movable base and is used to grip the ring.

[0006] By adopting the above technical solution, the drive component drives the moving seat two to move on the guide rail, thereby enabling the gripping component to first move down in the vertical section, gripping the ring on the conveyor belt. After gripping, the gripping component moves up to the horizontal section and then horizontally approaches the production line. Then, the gripping component moves vertically down in another vertical section, releasing the ring and placing it on the tooling. The drive component reverses to make the gripping component move back, thereby enabling reciprocating gripping and conveying of the ring.

[0007] The ring can be transported using a single drive component and guide rail, and the gripping component and the ring can be transported along the actual trajectory, which improves the stability of the ring during transportation. Moreover, only one drive source, the drive component, needs to be maintained during equipment maintenance, thereby improving the stability of the assembly process and the convenience of equipment maintenance.

[0008] Optionally, the connection component includes: Column 1, Column 2 and Column 3 are coaxially arranged. Column 3 is rotatably mounted on the movable seat 2 and extends to the outside of the movable seat 2. Column 2 is positioned against the guide rail. Column 1 is slidably mounted on the guide rail for guidance.

[0009] By adopting the above technical solution, the movable seat 2 can slide on the guide rail through column 1, column 2 and column 3. Moreover, the cylindrical structure can greatly reduce the frictional resistance encountered when moving on the guide rail, resulting in better stability during the assembly process.

[0010] Optionally, the driving component includes: The rotating shaft is rotatably mounted on the machine body. Drive components are used to drive the rotating shaft to rotate; The drive plate is mounted on the rotating shaft and extends to the guide rail, and has a clearance hole along its own length. When the column three drives the moving seat two to move, it moves on the clearance hole to make clearance.

[0011] By adopting the above technical solution, the driving component drives the driving plate to rotate, and the rotation of the driving plate drives the first column and the second movable seat to slide along the guide rail. During the sliding process, the first column moves on the clearance hole to make way, thereby realizing the movement of the second movable seat along the guide rail.

[0012] Optionally, the rotation axis is located between the two vertical segments and is at the same distance as the two vertical segments.

[0013] By adopting the above technical solutions, the stability during operation has been improved.

[0014] Optionally, the grasping component includes: The gripper is mounted on the movable seat two and is cylindrical in shape. Multiple grippers are slidably mounted on the gripper base along the axis of the gripper base; The pusher is used to drive multiple grippers to move closer to each other or further apart to unlock the gripping ring.

[0015] By adopting the above technical solution, the pusher drives multiple grippers to move closer to each other to clamp the ring, or the multiple grippers move further apart to release the clamp.

[0016] Optionally, there are two gripping components spaced apart, and the second movable base is provided with a transformation component that drives the two gripping components to change positions.

[0017] By adopting the above technical solution, two working areas can be set on one tooling to realize the assembly of two gear components. The two working areas are set at intervals along the conveyor belt conveying direction. Correspondingly, there are two conveyor belts set at intervals perpendicular to the conveyor belt conveying direction. Therefore, after the two conveyor belts grab the ring body and move it to the tooling, it needs to rotate 180 degrees to correspond with the two working areas. Therefore, by changing the component to drive the two gripping components to rotate, the position can be changed, thereby further improving the assembly efficiency.

[0018] Optionally, the transformation component includes: The changing component is located on the bottom of the movable base two. A transformation plate is mounted on the output shaft of the transformation component, and two gripping components are respectively mounted on both ends of the transformation plate; the transformation component starts to drive the transformation plate to rotate.

[0019] By adopting the above technical solution, the transformation component drives the transformation plate to rotate, thereby rotating the two gripping components located at both ends of the transformation plate, and thus adjusting the position of the two gripping components.

[0020] Optionally, a protective cover can be detachably installed on the machine body, and the guide rail is located inside the protective cover for protection. The protective cover has a moving hole for the moving seat to move.

[0021] By adopting the above technical solution, the protective cover is used to protect the guide rail, thereby reducing the risk of external dust entering the guide rail and improving the stability of the assembly process.

[0022] Optionally, the connection between the horizontal and vertical segments forms an arc-shaped connection.

[0023] By adopting the above technical solution, the connecting part can achieve greater stability when the movable seat moves.

[0024] In summary, this application includes at least one of the following beneficial technical effects: 1. The ring body can be transported using a single drive component and guide rail, and the gripping component and the ring body are transported along the actual trajectory, which improves the stability of the ring body during transportation. Moreover, only one drive source, the drive component, needs to be maintained during equipment maintenance, thereby improving the stability of the assembly process and the convenience of equipment maintenance.

[0025] 2. The drive plate is driven to rotate by the drive component. The rotation of the drive plate drives column one and movable seat two to slide along the guide rail. During the sliding process, column one moves on the clearance hole to make way, thereby realizing the movement of movable seat two along the guide rail, which improves the stability of the assembly process and the convenience of equipment maintenance. Attached Figure Description

[0026] Figure 1 It is a three-dimensional structural diagram of the robotic arm, conveyor belt, and blocking components; Figure 2 This is a 3D structural diagram of the robotic arm; Figure 3 This is a partial structural diagram of the robotic arm; Figure 4 yes Figure 3 Enlarged schematic diagram of part A in the middle.

[0027] Reference numerals: 11. Frame; 12. Body; 13. Protective cover; 14. Moving hole; 15. Conveyor belt; 2. Blocking assembly; 21. Blocking component; 22. Blocking plate; 23. Isolation plate; 24. Moving space; 3. Gripping mechanism; 31. Guide rail; 32. Moving seat one; 33. Moving seat two; 34. Horizontal section; 35. Vertical section; 36. Connecting part; 4. Connecting assembly; 41. Column one; 42. Column two; 43. Column three; 5. Drive assembly; 51. Rotating shaft; 52. Drive component; 53. Drive plate; 54. Clearing hole; 6. Gripping assembly; 61. Gripping seat; 62. Gripper; 7. Changing assembly; 71. Changing component; 72. Changing plate. Detailed Implementation

[0028] The following provides a further detailed description of this application.

[0029] This application discloses a three-station dual-claw PPU high-speed transfer robot.

[0030] Reference Figure 1 The three-station dual-claw PPU high-speed transfer robot includes three gripping mechanisms 3. The conveyor belt 15 is arranged with three sets at intervals, which are used to transport the outer ring, middle ring and inner ring respectively. The three gripping mechanisms 3 are arranged corresponding to the three sets of conveyor belts 15, and realize the sequential placement of the outer ring, middle ring and inner ring located on the conveyor belt 15 onto the tooling located on the assembly line for assembly.

[0031] Both the conveyor belt 15 and the production line are horizontal and their directions of movement are perpendicular to each other. The conveyor belt 15 is mounted on the frame 11, and a partition plate 23 extending to the middle of the conveyor belt 15 is fixedly installed on the frame 11. The partition plate 23 divides the conveyor belt 15 into two independent moving spaces 24, thereby realizing the simultaneous movement and gripping of the two sets of rings. The tooling is provided with two working areas to accommodate the assembly of the two gear assemblies. A blocking component 2 is provided on the frame 11 and at the end of the conveyor belt 15 near the production line. The following explanation will take the blocking component 2 of the outer ring as an example.

[0032] The blocking assembly 2 includes a blocking element 21 and a blocking plate 22. The blocking element 21 is fixedly installed on the side wall of the frame 11. The blocking element 21 is an electric push rod with its piston rod vertically upward. The blocking plate 22 is fixedly installed on the piston rod of the blocking element 21. An arc-shaped blocking groove is provided on the blocking plate 22. The blocking element 21 drives the blocking plate 22 to move downward, and the conveyor belt 15 drives the outer ring to move, so that the outer ring abuts against the blocking groove for positioning. The top of the outer ring extends above the blocking plate 22, so as to facilitate the gripping mechanism 3 to grip and transport the outer ring, thereby realizing the gripping and transport of the outer ring, the middle ring and the inner ring.

[0033] Reference Figures 1-3 The gripping mechanism 3 includes a guide rail 31, a first movable seat 32, a second movable seat 33, a drive assembly 5, and a gripping assembly 6. The guide rail 31 is fixedly installed on the side wall of the machine body 12. The guide rail 31 includes a horizontal section 34 and two vertical sections 35. The horizontal section 34 is horizontal and is set along the direction from the conveyor belt 15 to the production line. The two vertical sections 35 are located at both ends of the horizontal section 34 and are set vertically downward. The connection between the two vertical sections 35 and the horizontal section 34 forms an arc-shaped connection part 36. The two vertical sections 35 are located above the baffle plate 22 and the tooling, respectively.

[0034] A protective cover 13 is fixedly installed on the side wall of the machine body 12 by screws. The guide rail 31 is located inside the protective cover 13. At the same time, a moving hole 14 is opened on the lower surface of the protective cover 13 along the length direction of the horizontal section 34. A horizontal slide rail is fixedly installed on the side wall of the machine body 12 and below the guide rail 31. The slide rail is located inside the protective cover 13 and is parallel to the length direction of the horizontal section 34.

[0035] The first movable seat 32 is horizontally slidably installed on the slide rail and located inside the protective cover 13. The second movable seat 33 is vertically slidably installed on the side wall of the first movable seat 32 away from the slide rail. The top of the second movable seat 33 extends vertically to the guide rail 31 and the bottom extends vertically through the movable hole 14 and then to the bottom of the body 12.

[0036] Reference Figures 2-4The movable seat 33 is slidably mounted on the guide rail 31 via the connecting assembly 4. The connecting assembly 4 includes three columns 41, 42, and 43, which are horizontally arranged and coaxially arranged in sequence. The column 43 is rotatably mounted on the side wall of the movable seat 33 near the guide rail 31, and extends to the side of the movable seat 33 away from the guide rail 31. The diameter of the column 42 is larger than the diameters of both the column 41 and the column 43. The column 42 is positioned against the guide rail 31. The column 41 extends into the guide rail 31, and the diameter of the column 41 is equal to or less than the width of the guide rail 31, so that the column 41 is slidably mounted on the guide rail 31.

[0037] The drive assembly 5 includes a rotating shaft 51, a drive component 52, and a drive plate 53. The rotating shaft 51 is rotatably mounted on the side wall of the guide rail 31 mounted on the body 12. The rotating shaft 51 is horizontal and located between two vertical sections 35. At the same time, the axis of the rotating shaft 51 and the bottom end of the vertical section 35 are on the same horizontal plane, and the distance between the rotating shaft 51 and the two vertical sections 35 is the same. The drive component 52 is a servo motor. The drive component 52 is fixedly mounted on the side wall of the body 12 away from the guide rail 31. The output shaft of the drive component 52 is coaxially connected to the rotating shaft 51.

[0038] One end of the drive plate 53 is fixedly mounted on the rotating shaft 51 and the other end extends to the guide rail 31. A clearance hole 54 is provided on the drive plate 53 along the length direction of the drive plate 53 near the guide rail 31. The column 3 43 extends into the clearance hole 54 and the diameter of the column 3 43 is equal to or less than the width of the clearance hole 54, so that the column 3 43 slides and is installed in the clearance hole 54. The rotation of the drive plate 53 drives the moving seat 2 33 to move vertically or horizontally through the column 3 43. At the same time, the column 3 43 moves on the clearance hole 54 to achieve clearance.

[0039] Reference Figures 1-3 There are two gripping components 6 spaced apart. The second moving base 33 is equipped with a transformation component 7 that drives the two gripping components 6 to change positions. The transformation component 7 includes a transformation element 71 and a transformation plate 72. The transformation element 71 is a servo motor. The transformation element 71 is fixedly installed on the bottom of the second moving base 33, and the output shaft of the transformation element 71 is set vertically downward. The transformation plate 72 is fixedly installed on the output shaft of the transformation element 71 and is in a horizontal state. The two ends of the transformation plate 72 are respectively located on both sides of the output shaft of the transformation element 71.

[0040] Two gripping components 6 are positioned at both ends of the conversion plate 72 and are mirror-symmetrical about the output shaft of the conversion component 71. The conversion component 71 drives the conversion plate 72 to rotate, thereby adjusting the position of the two gripping components 6. When the conversion plate 72 moves above the conveyor belt 15, the conversion plate 72 rotates to a position where its length direction is perpendicular to the moving direction of the conveyor belt 15, so that the two gripping components 6 correspond to the two moving spaces 24 respectively, thereby facilitating the gripping of the ring body located in the two moving spaces 24.

[0041] When the change plate 72 moves above the tooling located on the assembly line, the length direction of the change plate 72 is parallel to the moving direction of the conveyor belt 15 and perpendicular to the moving direction of the assembly line, so that the two gripping components 6 correspond to the two working areas on the tooling respectively, which facilitates the placement of the ring body into the two working areas.

[0042] The gripping assembly 6 includes a gripping seat 61, multiple grippers 62, and a pusher. The gripping seat 61 is fixedly mounted on the lower surface of the conversion plate 72 and is cylindrical. The multiple grippers 62 are slidably mounted on the gripping seat 61 along the radial direction of the gripping seat 61. The pusher is a multi-head electric actuator, which is used to drive the multiple grippers 62 to move closer or further apart, thereby clamping or releasing the ring.

[0043] The working principle of this application embodiment is as follows: When the conveyor belt 15 starts, the two sets of outer rings move within the two moving spaces 24 respectively, positioning them against the baffle plate 22. The changer 71 drives the two gripping components 6 to rotate to correspond with the two moving spaces 24. The drive 52 drives the two gripping components 6 to move horizontally and then vertically downward, gripping the two outer shells respectively. The drive 52 reverses, causing the two gripping components 6 to move upward first and then horizontally approach the tooling. At the same time, the changer 71 drives the two gripping components 6 to correspond with the two working areas of the tooling. The two gripping components 6 move downward, placing the two outer rings into the two working areas. The tooling moves forward, and then the middle ring and inner ring are placed into the working areas in sequence to complete the assembly, thereby improving the stability of the assembly process and the convenience of equipment maintenance.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A three-station, dual-claw PPU high-speed transfer robot, characterized in that: It includes three gripping mechanisms (3), wherein the gripping mechanism (3) includes: The guide rail (31) is set on the body (12). The guide rail (31) includes a horizontal section (34) in a horizontal state and two vertical sections (35) located at both ends of the two horizontal sections (34) and set vertically downward. The movable seat (32) is horizontally slidably mounted on the body (12); The second movable seat (33) is vertically slidably mounted on the first movable seat (32) and slidably mounted on the guide rail (31) via the connecting component (4); Drive assembly (5) is used to drive the second moving seat (33) to move along the guide rail (31); The gripping component (6) is mounted on the movable seat (33) and is used to grip the ring.

2. The three-station double-claw PPU high-speed transfer robot of claim 1, wherein: The connection component (4) includes: Column 1 (41), Column 2 (42) and Column 3 (43) are coaxially arranged. Column 3 (43) is rotatably mounted on Column 2 (33) and extends to the outside of Column 2 (33). Column 2 (42) is positioned against Guide Rail (31). Column 1 (41) is slidably mounted on Guide Rail (31) for guidance.

3. The three-station double-claw PPU high-speed transfer robot of claim 2, characterized in that: The driving component (5) includes: A rotating shaft (51) is rotatably mounted on the body (12); Drive component (52) is used to drive the rotating shaft (51) to rotate; The drive plate (53) is set on the rotating shaft (51) and extends to the guide rail (31) and has a clearance hole (54) along its own length direction. When the column three (43) drives the moving seat two (33) to move, it moves on the clearance hole (54) to make clearance.

4. The three-station dual-claw PPU high-speed transfer robot according to claim 3, characterized in that: The rotation axis (51) is located between the two vertical segments (35) and is at the same distance from the two vertical segments (35).

5. A three-station dual-claw PPU high-speed transfer robot according to claim 1, characterized in that: The crawling component (6) includes: The gripper (61) is mounted on the movable seat (33) and is cylindrical; Multiple grippers (62) are slidably disposed on the gripper (61) along the axis of the gripper (61); A pusher is used to drive multiple grippers (62) to move closer to each other or further away from each other to unlock the gripping ring.

6. The three-station dual-claw PPU high-speed transfer robot according to claim 1, characterized in that: The gripping components (6) are arranged in two intervals, and the moving base (33) is provided with a transformation component (7) that drives the two gripping components (6) to change positions.

7. A three-station dual-claw PPU high-speed transfer robot according to claim 6, characterized in that: The transformation component (7) includes: The change element (71) is set on the bottom of the movable seat (33); The transformation plate (72) is set on the output shaft of the transformation component (71), and the two gripping components (6) are respectively set on both ends of the transformation plate (72); the transformation component (71) starts to drive the transformation plate (72) to rotate.

8. A three-station dual-claw PPU high-speed transfer robot according to claim 1, characterized in that: The body (12) is detachably provided with a protective cover (13), and the guide rail (31) is located inside the protective cover (13) for protection. The protective cover (13) is provided with a moving hole (14) for the moving seat (33) to move.

9. A three-station dual-claw PPU high-speed transfer robot according to claim 1, characterized in that: The horizontal segment (34) and the vertical segment (35) form an arc-shaped connecting part (36).

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