CN110788880A - Automatic robot that overturns of two tongs - Google Patents
Automatic robot that overturns of two tongs Download PDFInfo
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- CN110788880A CN110788880A CN201911282637.3A CN201911282637A CN110788880A CN 110788880 A CN110788880 A CN 110788880A CN 201911282637 A CN201911282637 A CN 201911282637A CN 110788880 A CN110788880 A CN 110788880A
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- gripper
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- ram
- workpiece
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- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000009977 dual effect Effects 0.000 claims description 4
- 230000007306 turnover Effects 0.000 abstract description 7
- 241000252254 Catostomidae Species 0.000 abstract 1
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000003825 pressing Methods 0.000 description 3
- MFOUDYKPLGXPGO-UHFFFAOYSA-N propachlor Chemical compound ClCC(=O)N(C(C)C)C1=CC=CC=C1 MFOUDYKPLGXPGO-UHFFFAOYSA-N 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a double-gripper automatic turnover robot, which realizes the turnover requirement of a workpiece in two-point displacement and comprises: the first gripper module, the second gripper module and the power module; the first gripper module comprises: the first connecting part and the first gripper are arranged on the first connecting part; the second gripper module includes: the pivoting unit drives the second connecting part to perform pivoting motion, and the second connecting part drives the second gripper to grip the workpiece gripped by the first gripper in a relay manner from the lower part; the power module is in transmission connection with the first connecting part and the second connecting part. According to the invention, the first gripper module is fixedly arranged, the second gripper module can realize the turnover of the workpiece through self pivoting, the closing height of the grippers is adjusted according to the thickness of the workpiece to keep the closing parallel, the two gripper suckers are ensured to suck the workpiece in parallel, and the processing treatment on different surfaces of the workpiece is facilitated.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an automatic double-gripper overturning robot.
Background
In industrial production, operations such as feeding, transferring and blanking of workpieces need to be realized. Specifically, during the workpiece turnover process, the workpiece needs to be turned over, so that different surfaces of the workpiece can be processed conveniently. Therefore, a further solution is necessary to solve the problem of turning over during the workpiece turnover process.
Disclosure of Invention
The invention aims to provide a double-gripper automatic overturning robot without increasing the processing time, which realizes the overturning in the workpiece carrying process and overcomes the defects in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides an automatic upset robot of two tongs, it includes: the first gripper module, the second gripper module and the power module;
the first gripper module comprises: the first connecting part and the first gripper are arranged on the first connecting part;
the second gripper module comprises: the second gripper is arranged on the second connecting part, the pivoting unit drives the second connecting part to perform pivoting motion, and the second connecting part drives the second gripper to grip the workpiece gripped by the first gripper in a relay manner;
the power module is in transmission connection with the first connecting portion and the second connecting portion, and the power module drives the first gripper module and the second gripper module to move in a three-dimensional space.
As an improvement of the double-gripper automatic overturning robot, the first connecting part is at least one ram, the ram is provided with at least one first gripper, and one end of the ram is in transmission connection with the power module.
As an improvement of the double-gripper automatic overturning robot, one end of the ram is in transmission connection with the power module through a ram fixing seat.
As an improvement of the double-gripper automatic overturning robot, the second connecting part is at least one ram, the ram is provided with at least one second gripper, and one end of the ram is in transmission connection with the pivoting unit through a pivoting connecting seat.
As an improvement of the double-gripper automatic overturning robot, the pivoting unit drives the second gripper to move below the first gripper through the ram, and the workpiece gripped by the first gripper is gripped in a relay manner.
As an improvement of the double-gripper automatic overturning robot of the present invention, the pivot connection seat comprises: the first seat body is connected with the pivoting unit in a pivoting mode, the second seat body is movably connected with the first seat body, the section bar is fixedly connected to the second seat body, and one end of the ram is connected to the section bar.
As an improvement of the double gripper automatic reverse robot of the present invention, the pivot unit includes: the first rotating motor is in transmission connection with the second connecting portion through the first speed reducer.
As an improvement of the double-gripper automatic overturning robot of the invention, the power module comprises: the first gripper module and the second gripper module are driven by the lifting mechanism to perform lifting motion, the pivoting mechanism is a second speed reducer, and the lifting mechanism is driven by the second speed reducer to perform autorotation motion.
As an improvement of the double-gripper automatic overturning robot of the present invention, the lifting mechanism comprises: the first gripper module and the second gripper module are connected to the connecting piece.
As an improvement of the double-gripper automatic overturning robot of the present invention, the power module further comprises a translation mechanism, which comprises: a translation robot arm, one end of the translation robot arm being connected to the pivot mechanism.
Compared with the prior art, the invention has the beneficial effects that: according to the double-gripper automatic overturning robot, the first gripper module and the second gripper module are arranged, wherein the first gripper module is fixedly arranged, and the second gripper module can realize overturning of a workpiece through self pivoting, so that different surfaces of the workpiece can be processed conveniently. In addition, the double-gripper automatic overturning robot can realize horizontal movement of the workpiece while overturning the workpiece, and improves the workpiece turnover efficiency in the workpiece conveying process.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a front view of an embodiment of the dual gripper automatic turning robot of the present invention, which simultaneously shows a state where a second gripper module pivots to below a first gripper module;
FIG. 2 is a top view of the dual gripper automatic flipping robot of FIG. 1;
FIG. 3 is a side view of the dual gripper automatic flipping robot of FIG. 1;
fig. 4 to 7 are schematic views illustrating a working process of the double-gripper automatic overturning robot according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The automatic robot that overturns of two tongs of this embodiment adaptable work piece needs the upset to continue processing, has solved mould suppression work piece in-process and has got and put the work piece problem.
As shown in fig. 1 to 3, the double-gripper automatic flipping robot of the present embodiment includes: the first gripper module 1, the second gripper module 2 and the power module 3.
The first gripper module 1 includes: first connecting portion 11, first tongs 12 set up on first connecting portion 11. In one embodiment, the first connecting portion 11 is at least one ram, and the ram is provided with at least one first handle 12. For example, when the workpiece is wide in size, two parallel ram rods may be provided, and two first grippers 12 may be provided on any ram rod at intervals to achieve gripping of the workpiece. The first gripper 12 may be a suction cup or the like that provides a gripping force to the workpiece.
The first connecting part 11 is in transmission connection with the power module 3, and the power module 3 drives the first hand grip 12 module 1 to act in a three-dimensional space. When the first connecting part 11 adopts a ram structure, one end of the ram is in transmission connection with the power module 3. In one embodiment, one end of the ram is in transmission connection with the power module 3 through a ram fixing seat 13.
The second gripper module 2 includes: the second connecting portion 21, the pivoting unit 22, and the second hand grip 23, the second hand grip 23 is disposed on the second connecting portion 21, and the pivoting unit 22 drives the second connecting portion 21 to perform a pivoting motion.
In one embodiment, the second connecting portion 21 is at least one ram, on which at least one second hand grip 23 is arranged. Similarly to the first gripper 12 module 1, when the workpiece is wide in size, two parallel ram rods may be provided, and two second grippers 23 arranged at intervals are provided on any ram rod to grip the workpiece. The second hand grip 23 may be a suction cup or the like that provides a gripping force to the workpiece.
The pivoting unit 22 drives the second connecting portion 21 to perform a pivoting motion, so that the second connecting portion 21 can drive the second gripper 23 to grip the workpiece gripped by the first gripper 12 from the lower side of the first gripper 12 in a relay manner by driving of the pivoting unit 22, and then the workpiece is automatically turned over by reversely pivoting. Thus, the angle range of the pivotal stroke of the second connecting portion 21 is 0 to 180 °. At this time, the initial included angle between the second connection portion 21 and the first connection portion 11 is 180 °, the pivot unit 22 drives the second connection portion 21 to move to the lower side of the first connection portion 11, the second gripper 23 grips the workpiece on the first gripper 12 in a relay manner, and rotates 180 ° in the reverse direction, so that the back of the workpiece faces the workpiece, and the workpiece is turned over.
When the second connecting portion 21 adopts the ram structure, one end of the ram is drivingly connected with the pivot unit 22 through a pivot connecting seat 24. At this time, the pivoting unit 22 drives the second gripper 23 to move below the first gripper 12 through the ram, and the workpiece gripped by the first gripper 12 is gripped in a relay manner.
In one embodiment, pivot connection mount 24 includes: the first fastening body 241 is pivotally connected to the pivot unit 22, the second fastening body 242 is movably connected to the first fastening body 241, and the section bar 243 is fixedly connected to the second fastening body 242, and one end of the ram is connected to the section bar 243.
The second base 242 is connected to the first base 241 by screws, and the distance between the first grip 12 and the second grip 23 when they are opposite to each other can be adjusted by loosening the screws on the second base 242, so as to adapt to the possible concave-convex of the workpiece or the closing height difference caused by different sucker heights. Meanwhile, one end of the ram is connected to the profile 243 through the pressing plate 244, the pressing plate 244 is connected to the profile 243 in a locking manner, and the extending length of the second connecting part 21 can be adjusted slightly by loosening the screw on the pressing plate 244.
In one embodiment, the pivot unit 22 includes: the first rotating electric machine 221 and the first speed reducer 222 are connected to the second connecting portion 21 through the first speed reducer 222, and the extending direction of the second connecting portion 21 is perpendicular to the first rotating electric machine 221 and the first speed reducer 222. Accordingly, the pivotal acting force output by the first rotating electric machine 221 is transmitted to the second connecting portion 21 through the first speed reducer 222, and the second connecting portion 21 performs a movement within the pivotal stroke range.
The second connecting part 21 is in transmission connection with the power module 3, and the power module 3 drives the second gripper 23 module 2 to move in a three-dimensional space. The movement in the three-dimensional space includes both the lifting movement and the horizontal movement as well as the rotation movement. Specifically, the power module 3 includes: an elevator mechanism 31, a pivoting mechanism 32, and a translation mechanism 33.
The first gripper 12 module 1 and the second gripper 23 module 2 are driven by the lifting mechanism 31 to perform lifting motion. In one embodiment, the lifting mechanism 31 includes: the first gripper 12 module 1 and the second gripper 23 module 2 are connected to the connecting piece 313. Therefore, when the second rotating electric machine 312 is operated, the screw 311 is driven to rotate by the transmission belt, and the connection member 313 thereon is lifted and lowered by the engagement of the screw threads.
The first hand grip 12 module 1 and the second hand grip 23 module 2 are driven by the pivoting mechanism 32 to perform self-rotation movement. In one embodiment, the pivot mechanism 32 is a second reduction gear, and in this case, the mounting base 314 on which the lifting mechanism 31 is located is rotatably connected to the second reduction gear.
The first gripper 12 module 1 and the second gripper 23 module 2 are translated in a plane by the translation mechanism 33 to perform horizontal movement while turning the workpiece. In one embodiment, the translation mechanism 33 includes: and one end of the translation mechanical arm is connected to the pivoting mechanism 32, the translation mechanical arm can be a two-arm module, and the motion stroke of the two-arm module covers the feeding station and the discharging station. In other embodiments, the workpiece may be translated by a single arm or three arm robot.
When the double-gripper automatic overturning robot works, after the first gripper 12 module 1 grips a workpiece, the first gripper 12 module 1 and the workpiece translation mechanism 33 are driven to be away from a feeding station to wait for the second gripper 23 module 2 to grip the workpiece in a relay manner. Under the drive of the pivoting unit 22, the second gripper 23 module 2 pivots and moves to the lower part of the first gripper 12 module 1, and the relay suction of the workpiece is completed. Meanwhile, the pivoting mechanism 32 drives the first gripper 12 module 1 and the second gripper 23 module 2 to rotate, and the second gripper 23 module 2 is driven by the pivoting unit 22 to pivot back to the initial position. The translation mechanism 33 continues to move to drive the first gripper 12 module 1 and the second gripper 23 module 2 to move from the blanking station, the lifting mechanism 31 drives the second gripper 23 module 2 to discharge, and the translation mechanism 33 drives the first gripper 23 module 2 and the second gripper 23 module 2 to return to prepare for the next round of work.
In summary, the double-gripper automatic overturning robot provided by the invention is provided with the first gripper module and the second gripper module, wherein the first gripper module is fixedly arranged, and the second gripper module can realize overturning of the workpiece through self pivoting, so as to process different surfaces of the workpiece. In addition, the double-gripper automatic overturning robot can realize horizontal movement of the workpiece while overturning the workpiece, and improves the workpiece turnover efficiency.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides an automatic upset robot of two tongs, its characterized in that, the automatic upset robot of two tongs includes: the first gripper module, the second gripper module and the power module;
the first gripper module comprises: the first connecting part and the first gripper are arranged on the first connecting part;
the second gripper module comprises: the second gripper is arranged on the second connecting part, the pivoting unit drives the second connecting part to perform pivoting motion, and the second connecting part drives the second gripper to grip the workpiece gripped by the first gripper in a relay manner;
the power module is in transmission connection with the first connecting portion and the second connecting portion, and the power module drives the first gripper module and the second gripper module to move in a three-dimensional space.
2. The automatic double-gripper overturning robot as claimed in claim 1, wherein the first connecting part is at least one ram, the ram is provided with at least one first gripper, and one end of the ram is in transmission connection with the power module.
3. The automatic double-gripper overturning robot as claimed in claim 2, wherein one end of the ram is in transmission connection with the power module through a ram fixing seat.
4. The robot for automatically overturning double grippers as claimed in claim 1, wherein the second connecting portion is at least one ram, the ram is provided with at least one second gripper, and one end of the ram is in transmission connection with the pivot unit through a pivot connection seat.
5. The automatic overturning robot for double grippers of claim 4, wherein the pivoting unit drives the second gripper to move below the first gripper through the ram, and the workpiece gripped by the first gripper is gripped in a relay manner.
6. The dual-gripper automatic turning robot of claim 4, wherein the pivot connection base comprises: the first seat body is connected with the pivoting unit in a pivoting mode, the second seat body is movably connected with the first seat body, the section bar is fixedly connected to the second seat body, and one end of the ram is connected to the section bar.
7. The dual gripper automatic flipping robot of claim 1, wherein said pivoting unit comprises: the first rotating motor is in transmission connection with the second connecting portion through the first speed reducer.
8. The dual-gripper automatic turning robot of claim 1, wherein the power module comprises: the first gripper module and the second gripper module are driven by the lifting mechanism to perform lifting motion, the pivoting mechanism is a second speed reducer, and the lifting mechanism is driven by the second speed reducer to perform autorotation motion.
9. The dual-gripper automatic turning robot of claim 8, wherein the lifting mechanism comprises: the first gripper module and the second gripper module are connected to the connecting piece.
10. The dual-gripper automatic turning robot of claim 8, wherein the power module further comprises a translation mechanism comprising: a translation robot arm, one end of the translation robot arm being connected to the pivot mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911282637.3A CN110788880A (en) | 2019-12-13 | 2019-12-13 | Automatic robot that overturns of two tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911282637.3A CN110788880A (en) | 2019-12-13 | 2019-12-13 | Automatic robot that overturns of two tongs |
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| Publication Number | Publication Date |
|---|---|
| CN110788880A true CN110788880A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911282637.3A Pending CN110788880A (en) | 2019-12-13 | 2019-12-13 | Automatic robot that overturns of two tongs |
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| Country | Link |
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| CN (1) | CN110788880A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111318914A (en) * | 2020-03-03 | 2020-06-23 | 上海威克鲍尔通信科技有限公司 | Automatic unloading mechanism of going up of numerically controlled fraise machine that can turn over face |
| CN113213151A (en) * | 2021-04-29 | 2021-08-06 | 广东安达智能装备股份有限公司 | Assembling method of multi-angle rotating and inclining assembling system |
| CN113497993A (en) * | 2021-09-07 | 2021-10-12 | 深圳双十科技有限公司 | Bluetooth headset's equipment |
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| KR101386837B1 (en) * | 2012-10-19 | 2014-04-24 | 현대중공업 주식회사 | Carrying robot structure for glass |
| CN203875888U (en) * | 2014-04-08 | 2014-10-15 | 上海诣谱自动化装备有限公司 | Workpiece turn-over and transfer mechanism on stamping production line |
| CN204736215U (en) * | 2015-04-30 | 2015-11-04 | 广州惠伟智能科技有限公司 | Automatic stirring machinery hand |
| CN207256234U (en) * | 2017-07-13 | 2018-04-20 | 安徽鲲鹏装备模具制造有限公司 | A kind of bending plate duplex sucker manipulator |
| CN211541269U (en) * | 2019-12-13 | 2020-09-22 | 苏州荣威工贸有限公司 | Automatic robot that overturns of two tongs |
-
2019
- 2019-12-13 CN CN201911282637.3A patent/CN110788880A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101386837B1 (en) * | 2012-10-19 | 2014-04-24 | 현대중공업 주식회사 | Carrying robot structure for glass |
| CN203875888U (en) * | 2014-04-08 | 2014-10-15 | 上海诣谱自动化装备有限公司 | Workpiece turn-over and transfer mechanism on stamping production line |
| CN204736215U (en) * | 2015-04-30 | 2015-11-04 | 广州惠伟智能科技有限公司 | Automatic stirring machinery hand |
| CN207256234U (en) * | 2017-07-13 | 2018-04-20 | 安徽鲲鹏装备模具制造有限公司 | A kind of bending plate duplex sucker manipulator |
| CN211541269U (en) * | 2019-12-13 | 2020-09-22 | 苏州荣威工贸有限公司 | Automatic robot that overturns of two tongs |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111318914A (en) * | 2020-03-03 | 2020-06-23 | 上海威克鲍尔通信科技有限公司 | Automatic unloading mechanism of going up of numerically controlled fraise machine that can turn over face |
| CN113213151A (en) * | 2021-04-29 | 2021-08-06 | 广东安达智能装备股份有限公司 | Assembling method of multi-angle rotating and inclining assembling system |
| CN113497993A (en) * | 2021-09-07 | 2021-10-12 | 深圳双十科技有限公司 | Bluetooth headset's equipment |
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