CN108080554A - Material transports mechanical arm automatically - Google Patents

Abstract

The present invention provides materials to transport mechanical arm automatically, belong to material transferring equipment field, including the second clamp jaw and the first clamp jaw being oppositely arranged up and down, the same side of second clamp jaw and the first clamp jaw is equipped with symmetrical structure, the structure that remaining in symmetrical structure is connected with the second clamp jaw includes top shoe, interlocking lever, times power bar and drive rod, the one side of second clamp jaw is fixedly connected with one end of top shoe, top shoe is located in fixed plate and slides up and down connection, lower end of the top shoe away from one one side of the second clamp jaw is hinged the lower end of interlocking lever, the lower end of interlocking lever is hinged one end of times power bar, the lower end of times power bar is hinged in fixed plate, the other end of times power bar is hinged the upper end of drive rod, the lower end of drive rod is hinged on drive block.The present invention using on the premise of similary driving source, it can be achieved that the clamping force of bigger, structure is compacter, occupied space smaller.

Description

Material automatic transfer robot arm

technical field

The invention belongs to the field of material transfer equipment, and relates to a mechanical arm, in particular to an automatic material transfer mechanical arm.

Background technique

In the process of forming tableware, it needs to go through various processes such as forming, forging, grinding and polishing. Since tableware such as knives, forks, and spoons are mostly metal parts, they need to be on a high-temperature turntable during the forming and forging process. The profile is quickly transferred to the designated location for forging, the speed is too slow, the temperature drops too fast, which is not conducive to product forming, and the pass rate of the product is reduced. At present, most of them are operated by humans. Wearing protective clothing and using tools to transfer high-temperature parts, this work The process is labor-intensive, and it is easy to injure the operator. The risk factor increases when the speed is fast, and the temperature that is slow cannot meet the product processing requirements. Therefore, it is necessary to use the mechanical arm to complete the transfer of the workpiece to improve work efficiency and safety.

Contents of the invention

The problem to be solved by the present invention is to provide an automatic material transfer mechanical arm, which can realize automatic material transfer, high efficiency, and reduce the strength of the laborer. The clamping force can achieve double-strength clamping effect, and the clamping of materials is more stable, making the structure more compact, occupying less space, and convenient for layout.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: the automatic material transfer mechanical arm includes a base and a column, the column is vertically arranged above the base, and a first transmission arm is provided on one side of the column, The other side is provided with a second transmission arm, a sliding plate is provided between the first transmission arm and the column, the first transmission arm and the sliding plate are slidingly connected back and forth through a line rail, and the sliding plate and the sliding plate are The upright sliding connection is realized by the line rail between the columns, the matching relationship between the second transmission arm and the column is consistent with the matching relationship between the first transmission arm and the column, and the front end of the first transmission arm A jaw assembly is provided, and the front end of the second transmission arm is provided with a jaw assembly.

Further, the sliding plate realizes the vertical sliding connection relative to the column through the cylinder or the motor screw structure, and the first transmission arm realizes the front and rear sliding connection relative to the sliding plate through the cylinder or the motor screw structure, and the The power source of the first transmission arm is set independently from the power source of the second transmission arm.

Further, the clamping jaw assembly includes a second clamping jaw and a first clamping jaw that are arranged up and down oppositely, a symmetrical structure is provided on the same side of the second clamping jaw and the first clamping jaw, and the rest of the symmetrical structure The structure connected with the second clamping jaw includes an upper slider, a linkage rod, a force lever and a driving rod, one side of the second clamping jaw is fixedly connected to one end of the upper slider, and the upper The slider is arranged on the fixed plate and is slidably connected up and down. The lower end of the upper slider away from the side of the second clamping claw is hinged to the lower end of the linkage rod, and the lower end of the linkage rod is hinged to the double clamp. One end of the force rod, the double force rod is V-shaped and the height away from the end of the linkage rod is greater than the height near the end of the linkage rod, the lower end of the double force rod is hinged on the fixed plate, so The other end of the power lever is hinged to the upper end of the drive rod, the lower end of the drive rod is hinged to the drive block, the drive block is slidingly connected with the fixed plate left and right, and the drive block is far away from the drive rod One end is provided with a driving source.

Further, a vertical line rail is provided between the upper slider and the fixed plate, and the upper slider and the fixed plate are slid up and down through the line rail, and the fixed plate is provided with A keyway, the drive block is provided with a guide key, the guide key is arranged in the keyway and the two are slidably connected, and the length of the keyway is greater than the length of the guide key.

Further, the driving source is locked on the fixing plate through a flange plate, and a strengthening plate is provided on the side of the flange plate away from the fixing plate, and the strengthening plate is arranged opposite to the fixing plate and There is a locking rod between the two, and a fixing seat is provided on the side of the fixing plate and the reinforcing plate away from the upper slider, and the fixing seat is a cavity structure, and the driving source is provided with the fixing seat. In the cavity of the seat, the rear end of the fixed seat is provided with a reinforcing column.

Further, the upper end of the fixing base is provided with a shelter hole, and the shelter hole is set corresponding to the driving source.

Further, the first clamping claw is an inverted trapezoid, and the four corners of the upper end surface of the first clamping claw are provided with positioning protrusions.

Further, the second clamping claw includes an upper plate and a lower plate, the upper plate is fixedly locked on the upper slider, the lower plate is fixedly locked at the lower end of the upper plate, and the upper plate is close to The two ends of one side of the lower plate are provided with first positioning holes, the two ends of the lower plate close to the side of the upper plate are provided with second positioning holes, and the first positioning holes and the second positioning holes are opposite up and down. It is provided that a compression spring is arranged between the first positioning hole and the second positioning hole.

Further, the upper plate is a positive T shape, the lower plate is an inverted T shape, the two sides of the middle part of the lower end of the upper plate are symmetrically provided with locking ear plates, and the middle part of the upper end of the lower plate is provided with a locking ear plate. The locking protrusion is arranged in the middle of the symmetrically arranged locking ear plates and the two are fixedly connected.

Further, one end of the driving block close to the driving rod is provided with a U-shaped groove opening outward, the driving rod is arranged in the U-shaped groove and hinged with the driving block, and the driving rod is close to the driving block One end of one end is provided with a thickness-reducing plate, and the thickness-reducing plate on the drive rod arranged symmetrically up and down is arranged oppositely, and the thickness of both is equal to the thickness of the drive rod.

Compared with the prior art, the present invention has the following advantages and positive effects: 1. The present invention sets the first transmission arm and the second transmission arm, and the two can move up and down and forward and backward relative to the column, realizing the rapid transfer of workpieces, The degree of automation is high, and the labor intensity is reduced, and the work efficiency and safety are improved; 2. The clamping jaw assembly is equipped with an upper slider, a linkage rod, a double force rod and a driving rod structure to realize the second clamping jaw and the first clamping When the claw moves up and down, the linkage rod, the double force rod and the drive rod are all connecting rod structures, and the double force rod is set in a V shape and the lower end is hinged on the fixed plate. The height of the end of the double force rod near the drive rod is greater than that of the other end. Height, in the driving process, it realizes the effect of doubling the force, using a small force to achieve a larger force at the other end, making full use of the principle of leverage, realizing the effect of doubling the clamping force, which can be realized when using the same specification Under the premise of the driving source, the clamping force is greatly improved, and the specification of the driving source is unchanged or smaller, which can ensure a more compact structure, take up less space, and facilitate layout; 3. The driving source is cylinder, oil cylinder or electric push rod, oil cylinder The shape is small, the driving force is large, the cost of the cylinder is low, the power of the electric push rod is the power supply, and the connection is simpler and more convenient; 4. The line rail structure can ensure the accuracy of the upper slider sliding up and down, and the second clamping claw Up and down movement accuracy of the first clamping claw improves the clamping stability. The structure of the keyway and the guide key is simple and low in cost, which can ensure the movement accuracy of the drive block; 5. The first clamping claw is an inverted trapezoid, and the first The four corners of the upper end surface of the clamping claw are equipped with positioning protrusions, and the positioning protrusions set at the four corners form a card slot to facilitate the positioning of the workpiece, and the two ends are installed at the same time, which can simultaneously position two workpieces and improve work efficiency. 6. The compression spring on the second clamping claw is in a compressed state, which has a pressing effect on the lower plate, further enhances the clamping force between the second clamping claw and the first clamping claw, and improves the clamping force. stability.

Description of drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a schematic structural view of the front view of the jaw assembly of the present invention;

Fig. 2 is a structural schematic view of the rear view of the material jaw assembly without the fixing plate of the present invention;

Fig. 3 is a detailed view of part A of the jaw assembly of the present invention;

Fig. 4 is the structural representation of fixed plate of the present invention;

Fig. 5 is a schematic structural view of the material automatic transfer robot arm of the present invention.

Reference signs:

1-fixed plate; 101-keyway; 2-second clamping claw; 21-upper plate; 211-lock lug plate; 212-first positioning hole; 22-lower plate; The second positioning hole; 23-compression spring; 3-the first clamping claw; 31-positioning protrusion; 4-upper slider; 41-line rail; Drive rod; 71-thickening plate; 8-flange plate; 9-drive source; 10-strengthened plate; 11-fixed seat; 111-avoidance hole; Slot; 122-guide key; 15-locking rod; 20-base; 30-column; 40-sliding plate; 50-first transmission arm; 60-second transmission arm;

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 5, the present invention is an automatic material transfer mechanical arm, comprising a base 20 and a column 30, the column 30 is vertically arranged above the base 20, a first transmission arm 50 is provided on one side of the column 30, and a first transmission arm 50 is provided on the other side. The second transmission arm 60, the sliding plate 40 is arranged between the first transmission arm 50 and the column 30, the first transmission arm 50 and the sliding plate 40 are slidably connected back and forth through the wire rail, and the sliding plate 40 and the column 30 are realized through the wire rail. Up and down sliding connection, the matching relationship between the second transmission arm 60 and the column 30 is consistent with the cooperation relationship between the first transmission arm 50 and the column 30, the front end of the first transmission arm 50 is provided with a jaw assembly 80, and the front end of the second transmission arm 60 A jaw assembly 80 is provided.

Preferably, the sliding plate 40 realizes the sliding connection up and down relative to the column 30 through the cylinder or the motor screw structure, and the first transmission arm 50 realizes the front and rear sliding connection relative to the sliding plate 40 through the cylinder or the motor screw structure, and the first transmission arm 50 The power source and the power source of the second transmission arm 60 are set independently, which can realize the independent movement of the first transmission arm 50 and the second transmission arm 60, complete the rapid forging of multiple workpieces, and improve work efficiency.

As shown in Figures 1 and 2, the clamping jaw assembly 80 includes a second clamping jaw 2 and a first clamping jaw 3 arranged up and down oppositely, and the same side of the second clamping jaw 2 and the first clamping jaw 3 is provided with Symmetrical structure, the rest of the structure connected to the second clamping claw 2 in the symmetrical structure includes the upper slider 4, the linkage rod 5, the double force rod 6 and the driving rod 7, one side of the second clamping claw 2 is fixedly connected to the upper slide One end of the block 4, the upper slider 4 is located on the fixed plate 1 and is slidably connected up and down, the lower end of the upper slider 4 away from the second clamping claw 2 side is hinged to the lower end of the linkage rod 5, and the lower end of the linkage rod 5 Hinged one end of double force bar 6, double force bar 6 is V-shaped and the height far away from one end of link bar 5 is greater than the height near the end of link bar 5, the lower end of double force bar 6 is hinged on the fixed plate 1, double force bar The other end of 6 is hinged the upper end of driving rod 7, and the lower end of driving rod 7 is hinged on the driving block 12, and driving block 12 is slidably connected with fixed plate 1 left and right, and the end of driving block 12 away from driving rod 7 is provided with driving source 9.

Preferably, the driving source 9 is an air cylinder, an oil cylinder or an electric push rod. The oil cylinder has a small shape and a large driving force, and the cost of the air cylinder is low. The power of the electric push rod is a power supply, and the connection is simpler and more convenient.

Preferably, a vertical line rail 41 is provided between the upper slider 4 and the fixed plate 1, and the upper slider 4 and the fixed plate 1 are connected by sliding up and down through the line rail 41. The structure of the line rail 41 can ensure that the upper slider 4 moves up and down. The accuracy of sliding, the up and down movement accuracy of the second clamping claw 2 and the first clamping claw 3, improve the stability of clamping; Key 122 and guide key 122 are located in keyway 101 and the two are slidingly connected. The length of keyway 101 is greater than the length of guide key 122. Keyway 101 and guide key 122 are simple in structure and low in cost, which can ensure the movement accuracy of drive block 12.

Preferably, the driving source 9 is fixedly locked on the fixed plate 1 through the flange plate 8, and the side of the flange plate 8 away from the fixed plate 1 is provided with a reinforcement plate 10, and the reinforcement plate 10 is arranged opposite to the fixed plate 1 with a gap between the two. There is a locking rod 15, and the fixed plate 1 and the reinforced plate 10 are arranged on both sides of the driving rod 7, the double force rod 6 and the linkage rod 5, making the structure more stable and reliable; the fixed plate 1 and the reinforced plate 10 are far away from the upper slider One side of 4 is provided with fixed seat 11, and fixed seat 11 is cavity structure, has reduced the weight of structure, is convenient to fix, and fixed seat 11 is assembled by a plurality of plate materials, and manufacture is more convenient, and driving source 9 is provided with fixed seat 11 In the cavity, the structure is more compact, and the occupied space is reduced. The rear end of the fixed seat 11 is provided with a reinforcing column 112 to improve the strength of the fixed seat 11; 111 is set corresponding to the driving source 9, which is convenient for connecting the air pipe or the power line, and the wiring is more convenient.

Preferably, the first clamping claw is an inverted trapezoid, the four corners of the upper end surface of the first clamping claw are provided with positioning protrusions 31, and the positioning protrusions 31 provided at the four corners form a card slot to facilitate the positioning of the workpiece, and Both ends are set at the same time, and two workpieces can be positioned at the same time to improve work efficiency.

Preferably, as shown in FIG. 3 , the second clamping claw 2 includes an upper plate 21 and a lower plate 22, the upper plate 21 is fixedly locked on the upper slider 4, the lower plate 22 is fixedly locked at the lower end of the upper plate 21, and the upper plate 21 is provided with a first positioning hole 212 at both ends of the side near the lower plate 22, and is provided with a second positioning hole 222 at both ends of the lower plate 22 near the side of the upper plate 21. The first positioning hole 212 and the second positioning hole 222 are up and down. Relatively arranged, a compression spring 23 is arranged between the first positioning hole 212 and the second positioning hole 222, and the compression spring 23 is in a compressed state, which has a compression effect on the lower plate 22, and further promotes the second clamping claw and the first clamping jaw. The clamping force between the clamping jaws improves the stability of clamping.

Preferably, the upper plate 21 is a positive T shape, the lower plate 22 is an inverted T shape, the two sides of the lower middle of the upper plate 21 are symmetrically provided with locking lugs 211, and the middle of the upper end of the lower plate 22 is provided with a locking protrusion 221 , the locking protrusion 221 is arranged in the middle of the symmetrically arranged locking lugs 211 and the two are fixedly connected.

Preferably, one end of the drive block 12 close to the drive rod 7 is provided with a U-shaped groove 121 that opens outward, and the drive rod 7 is set in the U-shaped groove 121 and hinged with the drive block 12, adopting a symmetrical structure, uniform force, and high stability More preferably, one end of the drive rod 7 near the drive block 12 is provided with a thickening plate 71, and the thickness reduction plate 71 on the drive rod 7 arranged symmetrically up and down is relatively arranged and the thickness of the two is equal to the thickness of the drive rod 7. This structure It can ensure that the symmetrical structure provided on the same side of the second clamping jaw 2 and the first clamping jaw 3 is located on the same horizontal plane, and can ensure that the stress points of the second clamping jaw 2 and the first clamping jaw 3 are consistent, which is beneficial to The stability of the clamping force between the second clamping claw 2 and the first clamping claw 3 is improved to ensure a balanced force between the two, and the clamping is more stable and reliable.

In the actual application process, the first transmission arm 50 and the second transmission arm 60 can move independently up and down and forward and backward, which realizes the clamping and transfer of workpieces, automatic operation, reduces labor intensity, and improves work efficiency and safety. The application process of the jaw assembly 80 is the action of the driving source 9, which drives the driving block 12 to the left and right. When the driving block 12 moves to the right, it is driven by the driving rod 7, the double force rod 6 and the linkage rod 5. The relative movement of the slider 4 up and down realizes the opening action of the second clamping jaw and the first clamping jaw; on the contrary, the driving block 12 moves to the left to realize the clamping action of the second clamping jaw and the first clamping jaw , the structure of the double force rod 6 makes full use of the principle of leverage to realize the effect of double force. Under the premise of the same power of the driving source 9, it can achieve greater clamping force, realize the double force clamping effect, and clamp the material It is more stable, making the structure more compact, occupying less space, and facilitating layout.

An embodiment of the present invention has been described in detail above, but the content described is only a preferred embodiment of the present invention, and cannot be considered as limiting the implementation scope of the present invention. All equivalent changes and improvements made according to the application scope of the present invention shall still belong to the scope covered by the patent of the present invention.

Claims (10)

1. material transports mechanical arm automatically, it is characterised in that：Including pedestal and column, the uprights vertical is located at the pedestal Top, the one side of the column are equipped with the first transmission arm, and opposite side is equipped with the second transmission arm, and first transmission arm is stood with described Between column be equipped with sliding panel, first transmission arm is slid back and forth with the sliding panel by line rail to be connected, the sliding panel and Connection is slided up and down by the realization of line rail between the column, the matching relationship of second transmission arm and the column and described First transmission arm is consistent with the matching relationship of the column, and the front end of first transmission arm is equipped with clip claw assembly, and described second The front end of transmission arm is equipped with clip claw assembly.

2. material according to claim 1 transports mechanical arm automatically, it is characterised in that：The sliding panel passes through cylinder or electricity The relatively described column of machine screw structure realization slides up and down connection, and first transmission arm passes through cylinder or motor leading screw knot Structure realizes the connection that slides back and forth of relatively described sliding panel, and the power source of first transmission arm is dynamic with second transmission arm Power source is independently arranged.

3. material according to claim 1 transports mechanical arm automatically, it is characterised in that：The clip claw assembly includes phase up and down To the second clamp jaw and the first clamp jaw of setting, the same side of second clamp jaw and the first clamp jaw is equipped with symmetrical junction Structure, structure that remaining in the symmetrical structure is connected with second clamp jaw include top shoe, interlocking lever, times power bar and driving Bar, the one side of second clamp jaw are fixedly connected with one end of the top shoe, and the top shoe is located in fixed plate and up and down It is slidably connected, lower end of the top shoe away from one one side of the second clamp jaw is hinged the lower end of the interlocking lever, the company One end of the hinged times power bar in the lower end of lever, described times of power bar is V-arrangement and the height away from described interlocking lever one end is more than Height close to described interlocking lever one end, the lower end of described times of power bar is hinged in the fixed plate, described times of power bar it is another The upper end of the hinged drive rod in end, the lower end of the drive rod are hinged on drive block, the drive block and the fixed plate Horizontally slip connection, and the one end of the drive block away from the drive rod is equipped with driving source.

4. material according to claim 3 transports mechanical arm automatically, it is characterised in that：The top shoe and the fixed plate Between be equipped with the line rail that is vertically arranged, the top shoe is slided up and down by the line rail with the fixed plate and is connected, described solid Fixed board is equipped with keyway, and the drive block is equipped with feather key, and the feather key is located in the keyway and the two is slidably connected, The length of the keyway is more than the guiding key length.

5. material according to claim 3 transports mechanical arm automatically, it is characterised in that：The driving source is consolidated by flanged plate Lock in the fixed plate, one side of the flanged plate away from the fixed plate be equipped with strengthen plate, it is described reinforcing plate with it is described solid Fixed board is oppositely arranged and is equipped with solid lock bar therebetween, and the fixed plate and the one side of the reinforcing plate away from the top shoe are set There is fixed seat, the fixed seat is cavity structure, and the driving source is set in the cavity of the fixed seat, after the fixed seat End, which is equipped with, strengthens column.

6. material according to claim 5 transports mechanical arm automatically, it is characterised in that：The upper end of the fixed seat is equipped with and keeps away Position hole, a hole of keeping away is correspondingly arranged with the driving source.

7. material according to claim 3 transports mechanical arm automatically, it is characterised in that：First clamp jaw is inverted Trapezoidal, the corner at the first clamp jaw upper surface both ends is equipped with positioning protrusion.

8. material according to claim 3 transports mechanical arm automatically, it is characterised in that：Second clamp jaw includes upper plate And lower plate, the upper plate solid lock is on the top shoe, and the lower plate solid lock is in the lower end of the upper plate, and the upper plate is close to institute The both ends for stating lower plate one side are equipped with the first location hole, and the lower plate is equipped with the second location hole close to the both ends of the upper plate one side, First location hole and the second location hole are oppositely arranged up and down, are equipped with and are compressed between first location hole and the second location hole Spring.

9. material according to claim 8 transports mechanical arm automatically, it is characterised in that：The upper plate is just T-shaped, under described Plate is inverted T-shaped, and the both sides in the middle part of the upper plate lower end are arranged with solid lock otic placode, and the middle part of the lower plate upper end is equipped with admittedly Lock protrusion, the solid lock protrusion is located among symmetrically arranged solid lock otic placode and the two is fixedly connected.

10. material according to claim 3 transports mechanical arm automatically, it is characterised in that：The drive block is close to the drive One end of lever is equipped with the U-type groove of outward opening, and the drive rod sets in the U-type groove and is hinged with the drive block, institute It states drive rod and is equipped with close to one end of drive block and subtract slab, the slab that subtracts on the drive rod of setting symmetrical above and below is oppositely arranged and two The thickness of person is equal to the thickness of the drive rod.