CN219030961U

CN219030961U - Double-end manipulator

Info

Publication number: CN219030961U
Application number: CN202223557707.1U
Authority: CN
Inventors: 刘道香; 房信强
Original assignee: Shandong Hengtong Machinery Technology Co ltd; Shandong Hanye Machinery Co ltd
Current assignee: Shandong Hengtong Machinery Technology Co ltd; Shandong Hanye Machinery Co ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-05-16
Anticipated expiration: 2032-12-30

Abstract

A double-head manipulator belongs to the technical field of manipulators. The method is characterized in that: the transverse moving device and the longitudinal moving device are connected with the lifting devices, the two lifting devices are arranged side by side, the clamping devices are arranged on the lifting devices, and the lifting devices and the clamping devices work independently. The two lifting devices of the double-head manipulator independently work and drive the corresponding clamping devices to lift respectively, the two clamping devices independently work and can clamp and loosen the cylinder body respectively, when the cylinder body is fed, one clamping device clamps the cylinder body to be processed and moves to the upper side of the machine tool, after the idle manipulator takes down the processed cylinder body, the other clamping device directly places the cylinder body to be processed on the machine tool, the moving distance of the clamping device in the whole feeding process is greatly reduced, and the feeding speed of the cylinder body is improved.

Description

Double-end manipulator

Technical Field

A double-head manipulator belongs to the technical field of manipulators.

Background

The manipulator is mainly used in the transportation of material, and the cylinder body of monomer hydraulic prop need carry out excircle turning and bore hole in proper order in production process, and when excircle turning and bore hole, in order to improve the loading speed of cylinder body, need use the manipulator to accomplish the transportation and the material loading of cylinder body to improve degree of automation, can also alleviate staff's intensity of labour simultaneously.

When the existing manipulator is used for transferring and feeding the cylinder body, the manipulator needs to take down the cylinder body which is processed on the machine tool firstly, transfer the processed cylinder body to a designated position, then grasp the cylinder body to be processed, and transfer the cylinder body to be processed to the machine tool.

When workshop processing, in order to make things convenient for the cylinder body to realize pipelined's processing, the cylinder body of waiting to process and the cylinder body after the processing are placed in the both sides of lathe generally, and the manipulator need take off the cylinder body after processing earlier on can removing the cylinder body of waiting to process to the lathe, and this needs the route that removes when just leading to the manipulator material loading very long, and the time consumed during the material loading is very long, leads to the material loading speed of cylinder body slow.

Disclosure of Invention

The utility model aims to solve the technical problems that: the double-end manipulator has the advantages that the defects of the prior art are overcome, the cylinder body can be removed after machining and the cylinder body to be machined can be fed at the same time, and the feeding speed of the cylinder body is high.

The technical scheme adopted for solving the technical problems is as follows: this double-end manipulator, its characterized in that: the lifting device comprises a transverse moving device, a longitudinal moving device, lifting devices and clamping devices, wherein the transverse moving device and the longitudinal moving device are connected with the lifting devices, the lifting devices are arranged side by side, the clamping devices are arranged on the lifting devices, and the lifting devices and the clamping devices work independently.

Preferably, each clamping device comprises a clamping cylinder and clamping plates, two clamping plates are arranged side by side at intervals, and the clamping cylinders are simultaneously connected with the two clamping plates and drive the two clamping plates to synchronously approach or synchronously separate.

Preferably, the inner side of each clamping plate is provided with a V-shaped clamping part with an inward opening, and the clamping parts on the two clamping plates are opposite to each other.

Preferably, two pairs of clamping plates are arranged at intervals, each pair of clamping plates is connected with a clamping cylinder, and the two clamping cylinders synchronously act.

Preferably, each lifting device is slidably connected with the corresponding clamping device, the sliding direction is horizontal, and the lifting device is fastened with the corresponding clamping device through a fastening bolt.

Preferably, each clamping device is provided with a long hole, and the end part of the fastening bolt sequentially passes through the lifting device and the long holes and is connected with a fastening nut in a threaded manner.

Compared with the prior art, the utility model has the following beneficial effects:

this transverse moving device and the longitudinal movement device of double-end manipulator can drive two elevating gear simultaneously and remove in the horizontal plane to adjust elevating gear's position, make things convenient for clamping device to press from both sides and get the cylinder body, also conveniently shift the cylinder body that presss from both sides tightly to appointed position, two elevating gear independent work, and drive the clamping device that corresponds respectively and go up and down, two clamping device independent work, can press from both sides tightly respectively and loosen the cylinder body, when carrying out the material loading to the cylinder body, one of them clamping device presss from both sides tightly the cylinder body that waits to process, and remove to the lathe upside, treat that idle manipulator takes off the cylinder body after with processing, another clamping device will wait to process the cylinder body that directly place the lathe can, the distance that whole material loading process clamping device removed significantly reduces, the speed of cylinder body material loading has been improved.

Drawings

Fig. 1 is a schematic front view of a dual-head manipulator.

Fig. 2 is a partial enlarged view at a in fig. 1.

Fig. 3 is a left side schematic view of a dual head manipulator.

Fig. 4 is a schematic cross-sectional front view of the connection of the clamping frame to the lifting frame.

In the figure: 1. the vertical column 2, the transverse beam 3, the transverse guide rail 4, the transverse moving frame 5, the lifting cylinder 6, the lifting guide rail 7, the clamping plate 701, the clamping part 8, the longitudinal beam 9, the longitudinal moving frame 10, the longitudinal guide rail 11, the longitudinal sliding seat 12, the clamping cylinder 13, the lifting frame 14, the clamping frame 1401, the long hole 15 and the fastening bolt.

Detailed Description

The present utility model will be further described with reference to specific embodiments, however, it will be appreciated by those skilled in the art that the detailed description herein with reference to the accompanying drawings is for better illustration, and that the utility model is not necessarily limited to such embodiments, but rather is intended to cover various equivalent alternatives or modifications, as may be readily apparent to those skilled in the art.

Fig. 1 to 4 are diagrams illustrating preferred embodiments of the present utility model, and the present utility model is further described below with reference to fig. 1 to 4.

The utility model provides a double-end manipulator, includes transverse moving device, longitudinal moving device, elevating gear and clamping device, and transverse moving device and longitudinal moving device all are connected with elevating gear, and elevating gear is provided with two side by side, all installs clamping device on each elevating gear, and each elevating gear and each clamping device all independently work. This transverse moving device and the longitudinal movement device of double-end manipulator can drive two elevating gear simultaneously and remove in the horizontal plane to adjust elevating gear's position, make things convenient for clamping device to press from both sides and get the cylinder body, also conveniently shift the cylinder body that presss from both sides tightly to appointed position, two elevating gear independent work, and drive the clamping device that corresponds respectively and go up and down, two clamping device independent work, can press from both sides tightly respectively and loosen the cylinder body, when carrying out the material loading to the cylinder body, one of them clamping device presss from both sides tightly the cylinder body that waits to process, and remove to the lathe upside, treat that idle manipulator takes off the cylinder body after with processing, another clamping device will wait to process the cylinder body that directly place the lathe can, the distance that whole material loading process clamping device removed significantly reduces, the speed of cylinder body material loading has been improved.

As shown in fig. 1-2: in this embodiment, the longitudinal moving device is mounted on the transverse moving device and synchronously moves with the transverse moving device, and the longitudinal moving device is simultaneously connected with the two lifting devices and drives the two lifting devices to synchronously move, the two lifting devices are respectively arranged at two sides of the longitudinal moving device, each lifting device is provided with a clamping device, each lifting device independently works and can respectively drive the clamping device connected with the lifting device to lift, and each clamping device independently works and can respectively clamp or release the cylinder body.

The transverse moving device comprises a transverse driving device, a transverse moving frame 4 and a frame, wherein the frame comprises upright posts 1 and transverse cross beams 2, the transverse cross beams 2 are horizontally arranged, the upright posts 1 are vertically arranged on the lower side of the transverse cross beams 2, the upright posts 1 are provided with a plurality of upright posts which are arranged side by side and at intervals, the top of each upright post 1 is fixedly connected with the transverse cross beams 2, and the bottom of each upright post is arranged on a concrete prefabrication foundation. The transverse moving frame 4 is slidably arranged on the transverse beam 2, and the transverse driving device is connected with the transverse moving frame 4 and drives the transverse moving frame 4 to move along the transverse beam 2. The longitudinal moving means are mounted on the lateral moving frame 4.

Install transverse rail 3 on transverse beam 2, transverse rail 3 level sets up, and transverse movement frame 4 slidable installs on transverse rail 3, and transverse rail 3 can lead transverse movement frame 4 to guarantee transverse movement frame 4 rectilinear motion.

The transverse guide rails 3 are arranged on two opposite sides of the transverse beam 2, the transverse moving frame 4 is of a groove type with a downward opening, the transverse moving frame 4 is covered on the outer side of the transverse beam 2, the transverse moving frame 4 is slidably connected with the transverse guide rails 3 on two sides of the transverse beam 2, the connection strength of the transverse moving frame 4 and the transverse beam 2 can be ensured to be high, and the problem that the transverse moving frame 4 deforms due to uneven stress of the transverse moving frame 4 is avoided.

The transverse driving device can be a transverse air cylinder, a piston rod of the transverse air cylinder is connected with the transverse moving frame 4 and pushes the transverse air cylinder to translate, and the transverse moving frame 4 can be driven by a motor to move in a synchronous belt mode. The transverse driving device is directly required to adopt the prior technical scheme, and the specific structure of the transverse moving device is not described herein.

The longitudinal moving device comprises a longitudinal driving device, a longitudinal moving frame 9 and a longitudinal cross beam 8, wherein the longitudinal cross beam 8 is arranged on the upper side of the transverse moving frame 4, one end of the longitudinal cross beam 8 is fixedly connected with the transverse moving frame 4, and the other end of the longitudinal cross beam is arranged in a suspending manner. The longitudinal moving frame 9 is slidably mounted on the longitudinal beam 8, and the longitudinal driving device is connected with the longitudinal moving frame 9 and drives the longitudinal moving frame 9 to move along the longitudinal beam 8. Each lifting device is mounted on a longitudinally movable frame 9.

The longitudinal moving frame 9 has two longitudinal beams 8 on both sides, and each lifting device is mounted on the corresponding longitudinal moving frame 9. The longitudinal guide rails 10 are arranged on two sides of the longitudinal cross beam 8, each longitudinal moving frame 9 is slidably arranged on the longitudinal guide rail 10 on the corresponding side through the longitudinal sliding seat 11, and the longitudinal driving device is simultaneously connected with the longitudinal moving frames 9 on two sides and drives the longitudinal moving frames 9 on two sides to synchronously move.

The longitudinal driving device can be a longitudinal air cylinder, and a piston rod of the longitudinal air cylinder is connected with the longitudinal moving frames 9 at two sides at the same time and drives the two longitudinal moving frames 9 to synchronously move. The longitudinal driving device can also be that a motor is connected with the longitudinal moving frames 9 through a synchronous belt, and the two longitudinal moving frames 9 are fixedly connected with the same side of the synchronous belt at the same time, so that the two longitudinal moving frames 9 synchronously move. The longitudinal driving device is only required to adopt the prior technical scheme, and the structure of the longitudinal driving device is not repeated here.

As shown in fig. 2 to 3: the lifting device comprises a lifting driving device and a lifting frame 13, in the embodiment, the lifting driving device is a lifting cylinder 5 which is vertically arranged, the lifting cylinder 5 is arranged on a longitudinal moving frame 9 on the corresponding side, the lifting frame 13 is connected with a piston rod of the lifting cylinder 5 and synchronously lifts along with the piston rod, and the clamping device is arranged on the lifting frame 13 on the corresponding side.

The vertical lifting guide rail 6 is arranged on the lifting frame 13, the lifting sliding seats are arranged on the longitudinal moving frames 9, and the lifting sliding seats are slidably connected with the lifting guide rail 6, so that lifting of the lifting frame 13 is guided, and lifting of the lifting frame 13 is more stable. The lifting guide rails 6 are arranged on two sides of the lifting cylinder 5, and lifting sliding seats which are slidably connected with the lifting guide rails 6 on the corresponding sides are arranged on two sides of each longitudinal lifting frame 9.

The lifting cylinder 5 can also be replaced by a lifting cylinder or a lifting electric cylinder.

Each clamping device comprises a clamping frame 14, clamping plates 7 and a clamping air cylinder 12, wherein the clamping frame 14 is arranged on the lower side of the lifting frame 13, the clamping plates 7 are arranged on the lower side of the clamping frame 14, the clamping plates 7 are symmetrically arranged on two sides of the clamping frame 14, the clamping air cylinder 12 is arranged on the clamping frame 14, two sides of the clamping air cylinder 12 are simultaneously connected with the two clamping plates 7, and the two clamping plates 7 are driven to synchronously approach or synchronously separate from each other so as to clamp a cylinder body.

The lower part of each clamping plate 7 is provided with a clamping part 701, the clamping part 701 is arranged on the inner side of the clamping plate 7, the clamping part 701 is in a V shape with an inward opening, and the clamping parts 701 of the two clamping plates 7 are opposite to each other, so that the two clamping plates 7 can clamp a cylinder body, and slipping between the cylinder body and the clamping plates 7 is avoided.

In this embodiment, two pairs of clamping plates 7 are installed on each clamping frame 14, the two pairs of clamping plates 7 are arranged at intervals along the moving direction of the longitudinal moving device, each pair of clamping plates 7 is connected with an independent clamping air cylinder 12, and the two clamping air cylinders 12 synchronously act to ensure that the two pairs of clamping plates 7 on each clamping frame 14 synchronously clamp a cylinder body, so that the cylinder body is clamped more reliably and stably.

As shown in fig. 4: the clamping frame 14 is slidably connected with the lifting frame 13 on the corresponding side, and the clamping frame 14 is detachably connected with the lifting frame 13 on the corresponding side through fastening bolts 15. The clamping frame 14 is provided with a long hole 1401, the long hole 1401 is arranged along the moving direction of the longitudinal moving device, the end part of the fastening bolt 15 sequentially penetrates through the lifting frame 13 and the long hole 1401 from top to bottom and then is connected with fastening nuts in a threaded mode, the fastening bolts 15 are arranged side by side, the fastening bolts 15 are matched with the fastening nuts, and the clamping frame 14 is fixed.

When the position of the clamping frame 14 needs to be adjusted, the fastening nuts are loosened, then the clamping frame 14 is moved, and after the clamping frame 14 is moved in place, the fastening nuts are fastened, so that the clamping frame 14 can be fixed.

The clamping device is adjustable in position, can adapt to the clamping of the cylinder bodies with different lengths, ensures the middle part of the clamping cylinder body, enables the cylinder body to be kept horizontal, and is convenient for feeding of the cylinder body.

The working process of the double-head manipulator is as follows: when the double-head manipulator is used for feeding, the transverse moving device drives the longitudinal moving device to move to one side of the cylinder body to be processed, the longitudinal moving device drives the longitudinal moving frame 9 to move, the clamping device is aligned with the middle part of the cylinder body to be processed, any lifting cylinder 5 extends out, the lifting frame 13 descends until the cylinder body enters between two clamping plates 7 corresponding to the lifting cylinder 5, then the clamping cylinder 12 acts, the two clamping plates 7 synchronously move inwards, and when the two clamping plates 7 clamp the cylinder body, the lifting cylinder 5 resets.

The transverse moving device drives the longitudinal moving device to move to the upper part of the machine tool, the empty clamping device is opposite to the machine tool, the longitudinal moving device drives the clamping device to be in butt joint with the middle part of the machined cylinder body, the lifting cylinder 5 corresponding to the empty clamping device extends out, the machined cylinder body enters between two clamping plates 7 of the empty clamping device, the clamping cylinders 12 corresponding to the two clamping plates 7 act and clamp the machined cylinder body, and then the lifting cylinder 5 is reset.

The transverse moving device acts, the clamping device for clamping the cylinder body to be machined is opposite to the machine tool, the lifting cylinder 5 on the clamping device extends out, the cylinder body to be machined enters the machine tool to finish feeding of the machine tool, after feeding is finished, the clamping cylinder 12 connected with the lifting cylinder 5 acts, the two clamping plates 7 loosen the cylinder body to be machined, and meanwhile the lifting cylinder 5 resets.

The transverse moving device acts, the longitudinal moving device moves to the upper side of the machined cylinder body, the longitudinal moving device drives the lifting device to move until the clamping device is aligned with the machined cylinder body, then the lifting device drives the machined cylinder body to descend, the machined cylinder body is stacked neatly, the clamping cylinder 12 acts, the machined cylinder body is loosened along with the clamping plate 7, and then the lifting cylinder 5 acts, so that feeding of the cylinder body is completed.

The above description is only a preferred embodiment of the present utility model, and is not intended to limit the utility model in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present utility model still fall within the protection scope of the technical solution of the present utility model.

Claims

1. The utility model provides a double-end manipulator which characterized in that: the lifting device comprises a transverse moving device, a longitudinal moving device, lifting devices and clamping devices, wherein the transverse moving device and the longitudinal moving device are connected with the lifting devices, the lifting devices are arranged side by side, the clamping devices are arranged on the lifting devices, and the lifting devices and the clamping devices work independently.

2. The dual-head manipulator of claim 1, wherein: each clamping device comprises a clamping air cylinder (12) and clamping plates (7), wherein the clamping plates (7) are arranged side by side at intervals, the clamping air cylinders (12) are simultaneously connected with the two clamping plates (7) and drive the two clamping plates (7) to synchronously approach or synchronously separate.

3. The dual-head manipulator of claim 2, wherein: the inner sides of the clamping plates (7) are respectively provided with a V-shaped clamping part (701) with an inward opening, and the clamping parts (701) on the two clamping plates (7) are opposite to each other.

4. The dual-head manipulator of claim 2, wherein: two pairs of clamping plates (7) are arranged at intervals, each pair of clamping plates (7) is connected with a clamping cylinder (12), and the two clamping cylinders (12) synchronously act.

5. The dual-head manipulator of claim 1, wherein: the lifting devices are slidably connected with the corresponding clamping devices, the sliding direction is horizontal, and the lifting devices are fastened with the corresponding clamping devices through fastening bolts (15).

6. The dual head manipulator of claim 5, wherein: the clamping devices are provided with long holes (1401), and the end parts of the fastening bolts (15) sequentially penetrate through the lifting device and the long holes (1401) and are connected with fastening nuts in a threaded mode.