CN110605610B

CN110605610B - Double-arm manipulator mechanism for one-by-one feeding of parts

Info

Publication number: CN110605610B
Application number: CN201910776034.2A
Authority: CN
Inventors: 葛立志
Original assignee: Nanjing Kangni Precision Mechanics Co ltd
Current assignee: Nanjing Kangni Precision Mechanics Co ltd
Priority date: 2019-08-22
Filing date: 2019-08-22
Publication date: 2021-05-11
Anticipated expiration: 2039-08-22
Also published as: CN110605610A

Abstract

The invention relates to a double-arm manipulator mechanism for one-by-one feeding of parts, which comprises a part discharging mechanism, a material conveying mechanism, a grabbing and clamping mechanism and a discharging mechanism, wherein the grabbing and clamping mechanism comprises two mechanical arms, a mechanical grabbing head is arranged at one end of each mechanical arm facing a machining head, each mechanical arm independently realizes the reciprocating movement of the mechanical grabbing head between the machining head and the material conveying mechanism through a respective driving system, a lifting system is arranged below each mechanical arm, and the height of each mechanical arm is adjusted through the lifting system. Parts to be processed are orderly arranged through the part discharging mechanism, enter the material conveying mechanism one by one, are conveyed to the grabbing and clamping mechanism one by one through the material conveying mechanism, are grabbed from the material conveying mechanism by the grabbing and clamping mechanism and are conveyed to the processing head, the parts processed on the processing head are grabbed and clamped down and are conveyed to the discharging mechanism, and the processed parts are conveyed away or collected through the discharging mechanism, so that the whole process mechanization is realized, and the labor force is liberated.

Description

Double-arm manipulator mechanism for one-by-one feeding of parts

Technical Field

The invention relates to a double-arm manipulator mechanism for one-by-one feeding of parts, and belongs to the technical field of machinery.

Background

In the era of rapid industrial development, the realization of the automation of manufacturing and processing equipment is a problem which needs to be solved urgently by each factory, and in industrial production, the investment of a large amount of labor force wastes a large amount of manpower and material resources, the productivity of enterprises is reduced, and meanwhile, great potential safety hazards of personnel exist.

In machine part course of working, need put the finding one by one regularly, press from both sides tight processing one by one, the processing is accomplished the back, and the part of treating processing is gone up in the renewal, belongs to meticulous work, and traditional needs the manual completion of operating personnel, and the amount of labour is very big, and is tired very easily.

Disclosure of Invention

In order to solve the existing problems, the invention discloses a double-arm manipulator mechanism for one-by-one part feeding, which has the following specific technical scheme:

the double-arm manipulator mechanism for one-by-one feeding of the parts comprises a part discharging mechanism, a material conveying mechanism, a grabbing and clamping mechanism and a discharging mechanism, wherein the parts to be processed are orderly arranged through the part discharging mechanism, enter the material conveying mechanism one by one, are conveyed to the grabbing and clamping mechanism one by one through the material conveying mechanism, are grabbed from the material conveying mechanism by the grabbing and clamping mechanism, are conveyed to a processing head, grab and clamp the parts processed on the processing head, and are conveyed to the discharging mechanism, and the processed parts are conveyed away or collected through the discharging mechanism;

the grabbing and clamping mechanism comprises two mechanical arms, a mechanical grabbing head is arranged at one end, facing the processing head, of each mechanical arm, the mechanical grabbing head independently moves back and forth between the processing head and the material conveying mechanism through respective driving systems, a lifting system is arranged below each mechanical arm, and the height of each mechanical arm is adjusted through the lifting system.

Further, material mechanism is arranged to part sets up on subaerial or base, including vibration dish and vibration dish base, the vibration dish sets up on vibration dish base, is provided with the vibrator in the vibration dish base, and the vibrator is connected with the vibration dish, drives the vibration dish vibration through the vibrator, and at the vibration in-process, part neatly arranges in the channel of vibration dish inner wall, is provided with the decurrent slide of arc at the end of channel, and the slide extends to on passing the material mechanism.

Furthermore, the material conveying mechanism comprises a sliding plate, a synchronous belt and a synchronous belt sliding table, the synchronous belt is arranged on the synchronous belt sliding table, the sliding plate is a long strip plate with an L-shaped cross section, one surface of the sliding plate is provided with a connecting plate and fixedly connected with the synchronous belt through the connecting plate, the other surface of the sliding plate is a horizontal plane, one end, close to the grabbing and clamping mechanism, of the horizontal plane is provided with a material receiving hole, a pipe sleeve is sleeved in the material receiving hole, a nut is arranged at the bottom of the pipe sleeve, a screw rod is connected to the nut through threads, and the depth of the pipe sleeve is adjusted by adjusting the;

the two ends of the synchronous belt sliding table are provided with rollers for tightening the synchronous belt, one end of the synchronous belt sliding table is provided with a servo motor, the rollers of the servo motor are connected, and the driving rollers rotate to drive the synchronous belt to move.

Furthermore, the lifting system comprises a mounting seat and a lifting plate, the mounting seat comprises a bottom plate and a vertical plate, the bottom surface of the mounting seat is fixed with the ground or the base, one surface of the vertical plate is provided with a lifting motor, the other surface of the vertical plate is provided with more than two lifting guide rails, an output shaft of the lifting motor penetrates through the vertical plate to extend into the other surface and is positioned between the lifting guide rails, the tail end of the output shaft of the lifting motor is provided with a lifting gear,

the lifter plate includes roof and curb plate, and the curb plate is parallel with vertical board, the curb plate is provided with the slider with the unanimous quantity of lifting guide, slider and lifting guide block, curb plate towards the one side lifting rack of vertical board, lifting rack and lifting gear meshing.

Furthermore, the driving system comprises a driving motor arranged on the top plate, an output shaft of the driving motor is provided with a driving gear, a rack is fixedly arranged in the axial direction of the mechanical arm, the driving gear is meshed with the rack,

the top plate is further provided with more than two parallel limiting rails, the mechanical arm is provided with limiting guide rods in the same number with the limiting rails in a contact mode, the limiting guide rods are clamped with the limiting rails, and the limiting guide rods can move in the limiting rails.

Furthermore, every the head is grabbed to machinery includes two clamping jaws, two clamping jaw sliders, a clamping jaw slider seat and clamping jaw cylinder, and the clamping jaw slider is installed in the clamping jaw slider seat, and the clamping jaw is installed on the clamping jaw slider, and the clamping jaw cylinder is connected with the driving of clamping jaw slider, can drive the clamping jaw slider and remove in the clamping jaw slider seat.

Furthermore, the clamping jaw air cylinder is provided with a proximity switch, and the position of the proximity switch is identified through an encoder.

Furthermore, the blanking mechanism comprises a sliding chute positioned below the mechanical grabbing head, the sliding chute is obliquely arranged on a vertical surface, and the sliding chute is obliquely downward from the lower part of the mechanical grabbing head to the blanking tail end. The chute is fixedly arranged on the base through the chute mounting seat.

The invention has the following beneficial effects:

according to the invention, through the cooperative operation of the two mechanical arms, when the grabbing and clamping mechanism of one mechanical arm grabs a part to be machined and moves towards the machining head position, the other mechanical arm grabs the machined part on the machining head position, so that the machining time is more compact, and the waiting time is avoided.

The invention is mainly suitable for processing small-specification parts in a cylindrical shape, the parts to be processed are sequentially arranged in the slide way in the channel of the inner wall of the vibration disc which is orderly arranged in the vibration disc, when the sliding plate moves to the position where the material receiving hole is aligned with the outlet of the slide way, the parts to be processed just fall into the material receiving hole, the sliding plate moves towards the lower part of the clamping mechanism, at the moment, the sliding plate blocks the outlet of the slide way, the parts to be processed stay in the slide way, and one part to be processed is ensured to be transmitted at one time.

When the part to be machined moves to the position below the clamping mechanism, the induction positioning device controls the positioning to stop, the clamping mechanism descends under the action of the lifting system, the clamping head grabs the part to be machined in the material receiving hole on the sliding plate, and after the part to be machined is lifted, the part to be machined moves towards the machining head under the action of the driving system, and the part to be machined is installed on the machining head, so that full-mechanical production is realized.

Drawings

Figure 1 is a schematic view of the structure of the present invention,

figure 2 is a schematic view of figure 1 with the base removed,

figure 3 is a schematic structural view of the material conveying mechanism of the invention,

figure 4 is a schematic diagram of the drive system configuration of the present invention,

figure 5 is a schematic view of the gripper mechanism of the present invention,

figure 6 is a schematic view of the lift system of the present invention with the lift plate removed,

in the figure: 1-parts discharging mechanism, 2-materials conveying mechanism, 3-materials discharging mechanism, 4-base, 5-lifting system, 6-mechanical grabbing head, 7-driving system, 8-mechanical arm, 9-grabbing mechanism, 10-vibration disk, 11-vibration disk base, 12-slideway, 13-sliding chute, 14-sliding material mounting base, 15-sliding plate, 16-synchronous belt sliding table, 17-connecting plate, 18-synchronous belt, 19-servo motor, 20-material receiving hole, 21-pipe sleeve, 22-nut, 23-screw rod, 24-driving motor, 25-driving gear, 26-rack, 27-top plate, 28-clamping jaw, 29-clamping jaw sliding block, 30-clamping jaw sliding block base, 31-clamping jaw air cylinder, 32-approach switch, 33-bottom plate, 34-vertical plate, 35-mounting base, 36-output shaft of lifting motor, 37-lifting motor, 38-sliding block, 39-lifting guide rail, 40-lifting rack.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

The present embodiment and the accompanying drawings are described by way of example of the present invention being mounted on a base.

As shown in figure 1, the invention comprises a part discharging mechanism 1, a material conveying mechanism 2, a discharging mechanism 3 and a grabbing and clamping mechanism 9 as a whole, parts to be processed are orderly arranged through the part discharging mechanism 1, enter the material conveying mechanism 2 one by one, are conveyed to the grabbing and clamping mechanism one by one through the material conveying mechanism 2, are grabbed from the material conveying mechanism 2 by the grabbing and clamping mechanism, are conveyed to a processing head, grab and clamp the parts processed on the processing head, and are conveyed to the discharging mechanism 3, and the processed parts are conveyed away or collected by the discharging mechanism 3.

The gripping mechanism 9 comprises two mechanical arms 8, a mechanical gripping head 6 is arranged at one end, facing the processing head, of each mechanical arm 8, each mechanical arm 8 independently achieves reciprocating movement of the mechanical gripping head 6 between the processing head and the material conveying mechanism 2 through a respective driving system 7, a lifting system 5 is arranged below each mechanical arm 8, and the height of each mechanical arm 8 is adjusted through the lifting system 5. When the mechanical grabbing head 6 needs to grab the part to be machined on the material conveying mechanism 2, the lifting system 5 drives the mechanical arm 8 to integrally descend, the mechanical grabbing head 6 descends to the height that the mechanical grabbing head 6 can grab the part to be machined, then the mechanical grabbing head vertically ascends, and the part to be machined is lifted out of the material conveying mechanism 2. And then the height of the processing head is raised, the workpiece moves towards the processing head, and the part to be processed is transferred to the processing head.

With reference to fig. 2, it can be seen that the structure of the parts arrangement mechanism 1 is such that, using a conventional vibratory tray, the vibratory tray 10 is commercially available and is well-established in the art and used in this patent to arrange the parts to be machined in order. Vibration dish 10 sets up on vibration dish base 11, is provided with the vibrator in the vibration dish base 11, and the vibrator is connected with vibration dish 10, drives vibration dish 10 vibration through the vibrator, and at the vibration in-process, the part is neatly arranged in the channel of vibration dish 10 inner wall, is provided with the decurrent slide 12 of arc at the end of channel, and slide 12 extends to on passing material mechanism 2. This patent is ingenious through slide 12, will wait to process the part drainage and pass material mechanism 2.

Combine fig. 3 and fig. 4, it is visible that the cooperation relation between part arrangement mechanism and the biography material mechanism 2, fig. 4 demonstrates the concrete structure of passing material mechanism 2, it includes slide 15 to pass material mechanism 2, hold-in range 18 and hold-in range slip table 16, slide 15 can remove about, the mechanism that realizes moving lies in slide 15's one side and is provided with connecting plate 17, through connecting plate 17 and hold-in range 18 fixed connection, hold-in range 18 sets up on hold-in range slip table 16, the both ends of hold-in range slip table 16 are provided with the running roller that tightens hold-in range 18, one end is provided with servo motor 19, servo motor 19's running roller is connected, it is rotatory to.

A material receiving hole 20 is formed in the horizontal plane of the sliding plate 15 close to one end of the grabbing and clamping mechanism 9, a pipe sleeve 21 is sleeved in the material receiving hole 20, a nut 22 is arranged at the bottom of the pipe sleeve 21, a screw 23 is connected to the nut 22 in a threaded mode, the depth of the pipe sleeve 21 is adjusted by adjusting the length of the screw 23 inserted into the pipe sleeve 21, and the pipe sleeve is suitable for parts with different heights. After the parts to be processed are transferred into the material receiving holes 20 from the slide ways 12, the sliding plates 15 move to the positions below the gripping and clamping mechanisms 9, after the parts to be processed are gripped and clamped, the sliding plates 15 move to the positions where the material receiving holes 20 are aligned with the slide ways 12 again, after one part to be processed in the slide ways 12 falls into the material receiving holes 20, the part to be processed moves to the positions below the gripping and clamping mechanisms 9 again, and the steps are repeated in sequence to realize the one-by-one transmission of the parts to be processed. When the material receiving hole 20 is not aligned with the slide rail 12, the slide rail 12 is blocked by the slide plate 15, and the part to be processed in the slide rail 12 cannot slide out.

The core invention point gripping and clamping mechanism 9 of the invention is described in detail below, the gripping and clamping mechanism 9 is lifted by the lifting system 5, when the part to be processed in the material receiving hole 20 is gripped, the part needs to be lowered, and after the part to be processed is gripped, the part needs to be vertically raised, so that the part to be processed can be conveniently taken out. The gripping mechanism 9 horizontally transfers the part to be processed and the processed part to the position through the driving system 7, drives the mechanical gripping head 6 to move, and the mechanical gripping head 6 automatically controls the clamping jaws 28 to be tensioned and loosened through the air cylinders.

With reference to fig. 6, the lifting system 5 includes a mounting base 35 and a lifting plate, the mounting base 35 includes a bottom plate 33 and a vertical plate 34, one surface of the vertical plate 34 is provided with a lifting motor 37, the other surface is provided with two or more lifting guide rails 39, an output shaft 36 of the lifting motor penetrates through the vertical plate 34 and extends into the other surface, and is located between the lifting guide rails 39, and a lifting gear is arranged at the tail end of the output shaft 36 of the lifting motor. The lifting plate comprises a top plate 27 and a side plate, the side plate is parallel to the vertical plate 34, the side plate is provided with a plurality of sliders 38 consistent with the lifting guide rails 39, the sliders 38 are clamped with the lifting guide rails 39, the side plate faces to one face of the vertical plate 34, the lifting racks 4026 are meshed with the lifting gears, and the lifting gears are meshed with the lifting racks 4026. The rack 26 is driven to move up and down through the lifting gear, the rack 26 is fixed with the lifting plate to drive the lifting plate to lift, and the mechanical arm 8 is arranged on the lifting plate to further drive the mechanical arm 8 to lift. The lifting guide 39 and the slider 38 cooperate to define the direction of movement for vertical movement.

Referring to fig. 5, the driving system 7 includes a driving motor 24 disposed on a top plate 27, an output shaft of the driving motor 24 is provided with a driving gear 25, a rack 26 is axially and fixedly disposed on the mechanical arm 8, the driving gear 25 is engaged with the rack 26, the top plate 27 is further provided with two or more parallel limit rails, limit guide rods with the same number are disposed on the contact surface of the mechanical arm 8 and the limit rails, the limit guide rods are engaged with the limit rails, and the limit guide rods can move in the limit rails.

With reference to fig. 4 and 5, each mechanical gripper head 6 includes two gripping jaws 28, two gripping jaw sliders 29, a gripping jaw slider seat 30, and a gripping jaw air cylinder 31, the gripping jaw sliders 29 are installed in the gripping jaw slider seat 30, the gripping jaws 28 are installed on the gripping jaw sliders 29, and the gripping jaw air cylinders 31 are in driving connection with the gripping jaw sliders 29 and can drive the gripping jaw sliders 29 to move in the gripping jaw slider seat 30.

The mechanical structure of the invention is used synchronously by combining positioning and identification in practical application, thereby achieving automatic control. The gripper cylinder 31 is provided with a proximity switch 32, and the position recognition of the proximity switch 32 is set by an encoder. In this patent, the mechanical gripper head 6 is also provided with an encoder for setting the grasping displacement for grasping the part to be machined and the machined part, and recognizing the vertical alignment receiving hole 20.

The unloading mechanism 3 that just uses in this patent is comparatively simple, and the part after the processing can wherein slide away, including being located the smooth silo 13 of mechanical grabbing head 6 below, smooth silo 13 is the slope setting on vertical face, and it is downward to the terminal slope of unloading from mechanical grabbing head 6 below. The chute 13 is fixed on the base 4 through a chute mounting seat 14.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "and/or" as used herein is intended to include both the individual components or both.

The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.

In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims

1. Double-arm manipulator mechanism of part material loading one by one, its characterized in that: the part processing device comprises a part discharging mechanism, a material conveying mechanism, a grabbing and clamping mechanism and a discharging mechanism, wherein parts to be processed are orderly arranged through the part discharging mechanism, enter the material conveying mechanism one by one, are conveyed to the grabbing and clamping mechanism one by one through the material conveying mechanism, grab and clamp the parts to be processed from the material conveying mechanism, are conveyed to a processing head, grab and clamp the parts processed on the processing head, and are conveyed to the discharging mechanism, and the processed parts are conveyed away or collected through the discharging mechanism;

the gripping mechanism comprises two mechanical arms, a mechanical gripping head is arranged at one end of each mechanical arm facing the processing head, each mechanical arm independently realizes the reciprocating movement of the mechanical gripping head between the processing head and the material conveying mechanism through a respective driving system, a lifting system is arranged below each mechanical arm, and the height of each mechanical arm is adjusted through the lifting system;

the part discharging mechanism is arranged on the ground or on a base and comprises a vibrating disc and a vibrating disc base, the vibrating disc is arranged on the vibrating disc base, a vibrator is arranged in the vibrating disc base and connected with the vibrating disc, the vibrating disc is driven to vibrate by the vibrator, parts are arranged in a channel on the inner wall of the vibrating disc in order in the vibrating process, an arc-shaped downward slide way is arranged at the tail end of the channel, and the slide way extends to the material conveying mechanism;

the material conveying mechanism comprises a sliding plate, a synchronous belt and a synchronous belt sliding table, the synchronous belt is arranged on the synchronous belt sliding table, the sliding plate is a strip plate with an L-shaped cross section, one surface of the sliding plate is provided with a connecting plate and fixedly connected with the synchronous belt through the connecting plate, the other surface of the sliding plate is a horizontal plane, one end, close to the grabbing and clamping mechanism, of the horizontal plane is provided with a material receiving hole, a pipe sleeve is sleeved in the material receiving hole, the bottom of the pipe sleeve is provided with a nut, a screw rod is connected to the nut through threads, and the depth of the pipe sleeve is adjusted by adjusting;

the two ends of the synchronous belt sliding table are provided with rollers for tensioning the synchronous belt, one end of the synchronous belt sliding table is provided with a servo motor, and the servo motor drives the rollers to rotate to drive the synchronous belt to move;

the lifting system comprises a mounting base and a lifting plate, the mounting base comprises a bottom plate and a vertical plate, the bottom surface of the mounting base is fixed with the ground or a base, one surface of the vertical plate is provided with a lifting motor, the other surface of the vertical plate is provided with more than two lifting guide rails, an output shaft of the lifting motor penetrates through the vertical plate to extend into the other surface and is positioned between the lifting guide rails, the tail end of the output shaft of the lifting motor is provided with a lifting gear,

the lifting plate comprises a top plate and a side plate, the side plate is parallel to the vertical plate, the side plate is provided with sliding blocks, the number of the sliding blocks is the same as that of the lifting guide rails, the sliding blocks are clamped with the lifting guide rails, one surface of the side plate, facing the vertical plate, is provided with a lifting rack, and the lifting rack is meshed with the lifting gear;

the driving system comprises a driving motor arranged on the top plate, an output shaft of the driving motor is provided with a driving gear, the mechanical arm is axially and fixedly provided with a rack, the driving gear is meshed with the rack,

the top plate is also provided with more than two parallel limiting rails, the contact surface of the mechanical arm and the limiting rails is provided with limiting guide rods with the same number, the limiting guide rods are clamped with the limiting rails, and the limiting guide rods can move in the limiting rails;

the blanking mechanism comprises a sliding groove positioned below the mechanical grabbing head, the sliding groove is obliquely arranged on a vertical surface, the sliding groove is obliquely downward from the lower part of the mechanical grabbing head to the blanking tail end, and the sliding groove is fixedly arranged on the base through a sliding mounting seat.

2. A parts-on-a-piece bell robot mechanism as claimed in claim 1, further comprising: every the head is grabbed to machinery includes two clamping jaws, two clamping jaw sliders, a clamping jaw slider seat and clamping jaw cylinder, and the clamping jaw slider is installed in the clamping jaw slider seat, and the clamping jaw is installed on the clamping jaw slider, and the clamping jaw cylinder is connected with the driving of clamping jaw slider, can drive the clamping jaw slider and remove in the clamping jaw slider seat.

3. A part-by-part bell robot mechanism as claimed in claim 2 wherein: the clamping jaw air cylinder is provided with a proximity switch, and the position of the proximity switch is identified through an encoder.