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CN-122007961-A - Double-claw rotary mechanical arm material taking and discharging device and method for horizontal processing equipment

CN122007961ACN 122007961 ACN122007961 ACN 122007961ACN-122007961-A

Abstract

The invention discloses a double-claw rotary mechanical arm material taking and placing device and a material taking and placing method for horizontal processing equipment, wherein the device comprises a bracket and a guide rail base, a linear guide rail and a ball screw are arranged on the guide rail base, a carriage on a linear guide rail sliding block is connected with the ball screw nut, and a rotating arm part is arranged on the carriage; the rotating arm part drives the hollow rotating shaft to drive the lengthened rotating arm and the 120-degree arm to rotate through the rotating motor and the speed reducer, the feeding claw assembly and the discharging claw assembly are respectively arranged on two sides of the arm, the cam follower is arranged on the lengthened rotating arm through the guide bracket, and the guide seat and the guide block matched with the cam follower are arranged on the guide rail base in a matching way.

Inventors

  • HE ZHIQIANG

Assignees

  • 沈阳海默数控机床有限公司

Dates

Publication Date
20260512
Application Date
20260303

Claims (9)

  1. 1. A double-claw rotary mechanical arm material taking and discharging device for horizontal processing equipment comprises a bracket (1) and a guide rail base (2), and is characterized in that a linear guide rail (3) and a ball screw (11) are arranged on the guide rail base (2), the ball screw (11) is supported by a bearing seat (10), a servo motor (7) is connected with the ball screw (11) by a coupler (9), a carriage (5) is arranged on a sliding block of the linear guide rail (3), the carriage (5) is connected with a nut of the ball screw (11), a rotating arm part is arranged on the carriage (5), the rotating arm part comprises a rotating arm base (12), a hollow rotating shaft (28) and an elongated rotating arm (16), a bearing is arranged in the rotating arm base (12), the hollow rotating shaft (28) is supported in the rotating arm base (12) by the bearing, one end of the hollow rotating shaft (28) is connected with the elongated rotating arm (16) by an expansion sleeve (27), the other end of the hollow rotating shaft (28) is connected with an output shaft of a speed reducer (14), a rotating motor (14) is arranged on the rotating arm (15), the end part of the rotating arm (17) is arranged at the end part of the rotating arm (16), the automatic feeding and discharging device is characterized in that a feeding claw assembly (18) and a discharging claw assembly (19) are respectively arranged on two sides of an arm (17), a guide bracket (20) is further arranged on the lengthened rotary arm (16), a cam follower (21) is arranged on the guide bracket (20), a guide seat (22) matched with the cam follower (21) is arranged on a guide rail base (2), the bearings are two tapered roller bearings (26), an inner ring of each tapered roller bearing (26) is fixed with a hollow rotating shaft (28) through a round nut (25), an outer ring of each tapered roller bearing is limited by a bearing gland (13), a first switch bracket (31) is arranged on the rotary arm base (12), an angle sensor (30) is arranged on the first switch bracket (31), a sensor sensing piece (29) corresponding to the angle sensor (30) is arranged on the lengthened rotary arm (16), the feeding claw assembly (18) and the discharging claw assembly (19) are respectively arranged on two guide rails (4) of the arm (17), and the two guide rail bases (4) are arranged on two sides of the arm (17).
  2. 2. The double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 1, wherein the carriage (5) is further provided with a telescopic cover (6), and the guide seat (22) is provided with a guide block (23).
  3. 3. The double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 1, wherein the material discharging claw assembly (19) comprises: An arm (17) arranged on the lengthened arm (16); A blanking claw fixing plate (4 a) which is arranged on the arm (17); The blanking claw connecting plate (6 a) is detachably connected with the blanking claw fixing plate (4 a) through an anti-collision sheet (5 a); The overturning driving assembly is arranged on the blanking claw fixing plate (4 a) and comprises an air cylinder (21 a) and a connecting rod (23 a) driven by an air cylinder rod; The rotary shaft (26 a) is arranged on the blanking claw connecting plate (6 a) through a bearing seat (25 a) and a sliding bearing (28 a), a connecting rod (23 a) is fixedly connected with the end part of the rotary shaft (26 a) through a pin (24 a), the other end of the connecting rod (23 a) is connected with a connecting rod seat (22 a) arranged at the front end of a cylinder rod through a pin (24 a), a cylinder angle adjusting plate (19 a) is arranged on the blanking claw fixing plate (4 a), a cylinder support (20 a) is arranged on the cylinder angle adjusting plate (19 a), a cylinder (21 a) is arranged on the cylinder support (20 a) through a pin (24 a), the connecting rod seat (22 a) is fixedly connected with the front end of the cylinder rod, and the turnover driving assembly further comprises a turnover plate (7 a) fixedly arranged on the rotary shaft (26 a) and rotates along with the turnover plate; The action of the air cylinder (21 a) drives the rotating shaft (26 a) and the overturning plate (7 a) to rotate through the connecting rod (23 a), so that the air claw (9 a) is driven to execute overturning action.
  4. 4. The double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 3, wherein the material discharging claw fixing plate (4 a) and the material discharging claw connecting plate (6 a) are connected through the anti-collision sheet (5 a) and a screw, and are provided with mutually matched notches (A) for positioning.
  5. 5. The double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 3, wherein two bearing seats (25 a) are arranged, two ends of the rotating shaft (26 a) are respectively supported through sliding bearings (28 a), and the rotating shaft (26 a) is axially limited through snap springs.
  6. 6. The double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 3, wherein a second switch bracket (17 a) is arranged on the material discharging claw connecting plate (6 a), an upward turning sensor (15 a) and a downward turning sensor (18 a) for detecting the position of the turning plate (7 a) are arranged on the second switch bracket (17 a), and an upper buffer (16 a) is further arranged on the material discharging claw connecting plate (6 a).
  7. 7. A double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 3, wherein a rear switch bracket (12 a) is arranged on the turnover plate (7 a), and the rear switch bracket (12 a) is provided with a working clamping sensor (13 a) for detecting whether a workpiece is clamped or not.
  8. 8. The double-claw rotary mechanical arm material taking and placing device for horizontal processing equipment according to claim 3, wherein the arm (17) is provided with a front-back adjusting fixed block (2 a) and a left-right adjusting fixed plate (3 a) which can adjust the installation position of the blanking claw fixed plate (4 a).
  9. 9. A rotary manipulator arm reclaiming method based on the apparatus of any one of claims 1 to 8, comprising the steps of: S1, fixing a bracket (1) and a guide rail base (2) arranged on the bracket beside a main shaft of mechanical equipment, and adjusting a linear guide rail (3) to be parallel to the main shaft of the equipment through position adjusting blocks (4) at two sides of the guide rail base (2); S2, rotating the lengthened rotary arm (16) when the feeding claw assembly is at the initial position, enabling the claw center of the feeding claw assembly (18) arranged on the end arm (17) to be coaxial with the center of the main shaft of the equipment, setting an included angle of the feeding claw assembly (18) when the initial position is coaxial with the feeding claw assembly (18) and the center of the main shaft to be a feeding and discharging angle above the discharging line, and adjusting the relative positions of a sensor sensing piece (29) on the lengthened rotary arm (16) and an angle sensor (30) on the rotary arm base (12) to record the angle signal; S3, adjusting the relative positions of the feeding claw assembly (18) and the feeding line and the discharging claw assembly (19) and the discharging line to finish the positioning of material taking and material discharging; s4, carrying out a material taking and discharging action, namely moving the feeding claw assembly (18) and the discharging claw assembly (19) to a workpiece material taking station to be processed and a processed workpiece material taking station, controlling the air claw (9 a) to clamp a workpiece, and confirming a clamping state by the workpiece clamping sensor (13 a), driving the 120-degree arm (17) to rotate by the lengthened rotary arm (16) so that the discharging claw assembly (19) is concentric with the spindle chuck (24), driving the rotary arm part to move on a guide rail by the carriage (5), taking away the processed workpiece on the spindle chuck (24) by the discharging claw assembly (19), stopping the rotation of the 120-degree arm (17) again when the feeding claw assembly (18) and the spindle chuck (24) are concentric, driving the rotary arm part to move, enabling the workpiece to be processed to be placed in the spindle chuck (24), and simultaneously, integrally realizing the feeding claw assembly (18) to load the processed workpiece to the processed workpiece material taking station to be processed to the spindle chuck (24), and completing the material taking action; S5, overturning, namely controlling the air cylinder (21 a) to reversely act, driving the rotating shaft (26 a) and the overturning plate (7 a) to drive the air claw (9 a) and the workpiece to overturn to a target angle through the connecting rod (23 a), wherein the target angle is detected and confirmed by the upturning sensor (15 a); S6, discharging, wherein the carriage (5) drives the rotating arm part to move to a discharging station, and the air claw (9 a) is controlled to release a workpiece; S7, resetting, controlling the cylinder (21 a) to act again, driving the overturning plate (7) and the air claw (9) to overturn back to the initial angle, rotating the feeding claw assembly (18) to the initial position where the feeding line grabs the workpiece to be processed, simultaneously, driving the ball screw (11) to drive the carriage (5) and the rotating arm part arranged on the carriage to move integrally along the linear guide rail (3) through the servo motor (7) to enable the rotating arm part to return to the initial position, and completing a working cycle.

Description

Double-claw rotary mechanical arm material taking and discharging device and method for horizontal processing equipment Technical Field The invention relates to the field of machine manufacturing and machining, in particular to a double-claw rotary type material taking and discharging device. Background Along with the development of industrial automation, the requirements of mass production processing enterprises on the equipment automation degree are improved, and the requirements of high efficiency, energy conservation, space saving, low material consumption and the like are tended. The automatic feeding and discharging devices on the horizontal processing equipment at the present stage are mostly two, namely a truss manipulator and a joint robot, and the two types of automation can realize the automatic feeding and discharging functions, but have some defects, such as the truss manipulator, low price and maintenance cost, but large action range, and long feeding and discharging beats. The joint robot has high price and maintenance cost, high requirement on application environment and long action beat, and the action space of the joint robot is reserved, so that the existing structural scheme is difficult to meet the requirements of high-precision and high-efficiency automatic production. Disclosure of Invention In order to solve the problems, the invention discloses a double-claw rotary mechanical arm material taking and discharging device and a material taking and discharging method for horizontal processing equipment. The specific technical scheme is as follows: A double-claw rotary mechanical arm material taking and discharging device for horizontal processing equipment comprises a support and a guide rail base, wherein a linear guide rail and a ball screw are installed on the guide rail base, the ball screw is supported by a bearing seat, a servo motor is connected with the ball screw through a coupler, a carriage is installed on a sliding block of the linear guide rail, the carriage is connected with a nut of the ball screw, a rotating arm part is installed on the carriage, the rotating arm part comprises a rotating arm base, a hollow rotating shaft and an elongated rotating arm, a bearing is installed in the rotating arm base, the hollow rotating shaft is supported in the rotating arm base through the bearing, one end of the hollow rotating shaft is connected with the elongated rotating arm, the other end of the hollow rotating shaft is connected with an output shaft of a speed reducer through an expansion sleeve, a rotating motor is installed on the speed reducer, an arm is installed at the end of the elongated rotating arm, a feeding claw component and a discharging claw component are installed on two sides of the arm respectively, a guide support is also installed on the elongated rotating arm, a cam follower is installed on the guide support, and a guide seat matched with the cam follower is installed on the guide rail base. The bearing is two tapered roller bearings, the inner ring of each tapered roller bearing is fixed with the hollow rotating shaft through a round nut, and the outer ring is limited by a bearing gland. The rotary arm base is provided with a first switch support, an angle sensor is arranged on the first switch support, and the lengthened rotary arm is provided with a sensor sensing piece corresponding to the angle sensor. The arm is 120 degrees arm, material loading claw subassembly and unloading claw subassembly are installed respectively on two side arms of arm. Position adjusting blocks are arranged on two sides of the guide rail base. The carriage is also provided with a telescopic cover, and the guide seat is provided with a guide block. The unloading claw subassembly includes: lengthening the arm and arranging the arm thereon; the blanking claw fixing plate is arranged on the arm; the blanking claw connecting plate is detachably connected with the blanking claw fixing plate through an anti-collision sheet; The overturning driving assembly is arranged on the blanking claw fixing plate and comprises an air cylinder and a connecting rod driven by an air cylinder rod; The rotary shaft is arranged on the blanking claw connecting plate through a bearing seat and a sliding bearing, the connecting rod is fixedly connected with the end part of the rotary shaft through a pin, the other end of the connecting rod is connected with a connecting rod seat arranged at the front end of a cylinder rod through a pin, a cylinder angle adjusting plate is arranged on the blanking claw fixing plate, a cylinder support is arranged on the cylinder angle adjusting plate, a cylinder is arranged on the cylinder support through a pin, the connecting rod seat is fixedly connected with the front end of the cylinder rod, and the overturning driving assembly further comprises an overturning plate, a gas claw and a gas claw, wherein the overturning plate rotates along with the rotary shaft; The action o