阅读说明：本技术 机械手专用的手动托盘车车架柔性搬运装置 (Special manual pallet car frame flexible carrying device for manipulator ) 是由 王京武 于 2021-09-26 设计创作，主要内容包括：本发明涉及搬运装置技术领域,尤其涉及一种机械手专用的手动托盘车车架柔性搬运装置,其包括平移装置、张夹装置以及两个机械臂,两个机械臂呈镜像对称分布,机械臂包括有支架、固定杆、活动杆一、活动杆二、气缸、翻转组件,所述固定杆和翻转组件均固定在支架上,活动杆一、气缸固定在翻转组件上,活动杆二固定在气缸的输出端,固定杆、活动杆一、活动杆二呈品字型分布。本发明设置的固定杆、活动杆一和活动杆二,能够托起车架进行转运,还可以对车架进行翻转,其相比于现有技术,极大的简化了现有的结构,并且车架的前后两面作为焊接的主要位置也没有任何部件会挡住焊接工人的操作,能够最大程度的保证补焊全面。(The invention relates to the technical field of carrying devices, in particular to a special manual pallet car frame flexible carrying device for a manipulator, which comprises a translation device, an opening and clamping device and two mechanical arms, wherein the two mechanical arms are distributed in a mirror symmetry mode, each mechanical arm comprises a support, a fixed rod, a first movable rod, a second movable rod, a cylinder and a turnover assembly, the fixed rods and the turnover assemblies are fixed on the supports, the first movable rods and the cylinders are fixed on the turnover assemblies, the second movable rods are fixed at the output ends of the cylinders, and the fixed rods, the first movable rods and the second movable rods are distributed in a triangular shape. The fixed rod, the first movable rod and the second movable rod can support the frame to be transported and can turn over the frame, compared with the prior art, the structure is greatly simplified, no part can block the operation of a welder when the front side and the rear side of the frame are used as main welding positions, and the full repair welding can be guaranteed to the maximum extent.)

1. The utility model provides a dedicated manual tray car frame flexible handling device of manipulator, includes the translation device, its characterized in that: the welding device is characterized by further comprising a clamping device (1) and two mechanical arms (2), wherein the two mechanical arms (2) are distributed in a mirror symmetry mode, the clamping device (1) is connected with the translation device, the translation device is used for driving the clamping device (1) and the mechanical arms (2) to move in a region to be welded, the mechanical arms (2) comprise a support (21), a fixed rod (22), a first movable rod (23), a second movable rod (24), an air cylinder (25) and a turning assembly (26), the fixed rod (22) and the turning assembly (26) are both fixed on the support (21), the first movable rod (23) and the air cylinder (25) are fixed on the turning assembly (26), the second movable rod (24) is fixed at the output end of the air cylinder (25), and the fixed rod (22), the first movable rod (23) and the second movable rod (24) are distributed in a shape like Chinese character 'pin';

when the translation device drives the mechanical arms (2) to transfer the frame (3), the two mechanical arms (2) are positioned on two sides of the frame (3), the upper end faces of the fixed rod (22) and the movable rod I (23) are positioned on the same horizontal plane, the tension clamping device (1) drives the fixed rod (22) and the movable rod I (23) of the two mechanical arms (2) to horizontally move to the position below the frame (3) from two sides of the frame (3), the fixed rod (22) and the movable rod I (23) support the frame (3), and the cylinder (25) drives the movable rod II (24) to press the upper portion of the frame (3);

when welding is carried out on a welding area, the turning assembly (26) drives the first movable rod (23) and the second movable rod (24) to vertically turn ninety degrees around the fixed rod (22) and drive the frame (3) to synchronously turn ninety degrees, and after turning, the fixed rod (22) and the first movable rod (23) are on the same vertical line; the turnover assembly (26) comprises an arc-shaped guide rail (261), a sliding block, a fixing frame (263), a pulley, a winding wheel (264), a first motor (265) and a connecting rope (266), wherein the arc-shaped guide rail (261) is installed on the bracket (21), the sliding block and the arc-shaped guide rail (261) form sliding fit, the fixing frame (263) is installed on the sliding block, a first movable rod (23) and an air cylinder (25) are both installed on the fixing frame (263), the winding wheel (264) is installed at the top of the bracket (21), the first motor (265) is connected with the winding wheel (264), the connecting rope (266) is installed on the winding wheel (264), and the end part of the connecting rope (266) is connected with one corner of the fixing frame (263); the overturning assembly (26) further comprises a second winding wheel (267) and a third motor for driving the second winding wheel (267), a second connecting rope (268) is arranged on the second winding wheel (267), and the second connecting rope (268) is connected with the other corner of the fixing frame (263).

2. The robot-dedicated hand-operated pallet car frame flexible handling device according to claim 1, wherein: rubber sleeves are sleeved outside the first movable rod (23), the second movable rod (24) and the fixed rod (22), and are made of flame-retardant rubber.

3. The robot-dedicated hand-operated pallet car frame flexible handling device according to claim 2, wherein: the rubber sleeve is made of chloroprene rubber materials.

4. The robot-dedicated hand-operated pallet car frame flexible handling device according to claim 3, wherein: and a bearing is arranged between the fixed rod (22) and a rubber sleeve sleeved outside the fixed rod (22).

5. The robot-dedicated hand-operated pallet car frame flexible handling device according to claim 1, wherein: the support (21) comprises a vertical plate (211), and the overturning assembly (26) and the fixing rod (22) are both arranged on the inner side surface of the vertical plate (211).

6. The robot-dedicated hand-operated pallet car frame flexible handling device according to claim 1, wherein: the tensioning and clamping device (1) comprises two rails (11) arranged in parallel, a plurality of guide wheels (27) are mounted at the top of each mechanical arm (2), the guide wheels (27) are clamped on the rails (11), and the mechanical arms (2) are hoisted on the rails (11) through the guide wheels (27).

7. The robot hand-operated pallet car frame flexible handling apparatus as set forth in claim 1,

the method is characterized in that: open and press from both sides device (1) and still include motor two (12), driving plate (13), connecting rod one (14) and connecting rod two (15), motor two (12) set up the intermediate position in two arms (2) to motor two (12) are fixed in track (11) below, and driving plate (13) are installed on the main shaft of motor two (12), and driving plate (13) both ends are respectively through connecting rod one (14) and connecting rod two (15) connection arm (2), and it is rotatory through motor two (12) drive driving plate (13), drive two arms (2) by connecting rod one (14) and connecting rod two (15) and do relative and back of the body motion mutually.

Technical Field

The invention relates to the technical field of carrying devices, in particular to a special manual pallet car frame flexible carrying device for a manipulator.

Background

At present, the welding processing of a frame of a manual pallet truck mainly adopts a mode of main welding and manual repair welding of a welding robot. The main welding process is to carry out automatic welding by a welding robot after positioning and clamping a workpiece by using special clamping equipment, and the Chinese utility model with the publication number of CN203254112U discloses a flexible automatic welding production line of a manual pallet car frame.

After the main welding process is finished, the manual pallet truck frame is basically formed. For some welding seams which are limited in spatial position and difficult to automatically weld by adopting a welding robot, manual repair welding is required. Therefore, after the main welding process is finished, the manual pallet truck frame needs to be manually conveyed to a repair welding station for repair welding. In the repair welding process, workers need to continuously turn the pallet frame with the weight of 30 kg-40 kg to finish the repair welding operation, and the labor intensity is very high.

To solve the problem, chinese patent publication No. CN104128923A discloses a flexible handling device for a manual pallet frame, which is used for loading and unloading, and turning of the frame.

It has the further disadvantage of selecting two long axis trepanning and two forks upper surfaces as the positioning references and using three cylinders to automate the clamping and release. But the parts obviously shield the frame, and some welding points on the frame are difficult to be welded completely.

Disclosure of Invention

The embodiment of the invention provides a special manual pallet truck frame flexible carrying device for a manipulator, and aims to solve the technical problem in the prior art.

The embodiment of the invention adopts the following technical scheme: the special manual pallet truck frame flexible carrying device comprises a translation device, a stretching and clamping device and two mechanical arms, wherein the two mechanical arms are distributed in a mirror symmetry mode, the stretching and clamping device is connected with the two mechanical arms and used for driving the two mechanical arms to move oppositely and oppositely, the translation device is connected with the stretching and clamping device and used for driving the stretching and clamping device and the mechanical arms to move between a region to be welded and a welding region, the mechanical arms comprise a support, a fixed rod, a first movable rod, a second movable rod, a cylinder and a turnover assembly, the fixed rod and the turnover assembly are fixed on the support, the first movable rod and the cylinder are fixed on the turnover assembly, the second movable rod is fixed at the output end of the cylinder, and the fixed rod, the first movable rod and the second movable rod are distributed in a shape of Chinese character 'pin';

when the translation device drives the mechanical arms to transfer the frame, the two mechanical arms are positioned on two sides of the frame, the upper end surfaces of the fixed rod and the movable rod I are positioned on a horizontal plane, the tensioning and clamping device drives the fixed rod and the movable rod I of the two mechanical arms to move to the lower part of the frame, the fixed rod and the movable rod I support the frame, and the air cylinder drives the movable rod II to press the upper part of the frame;

when welding the welding zone, the turnover assembly drives the first movable rod and the second movable rod to vertically turn ninety degrees around the fixed rod, and the fixed rod and the first movable rod are arranged on a vertical line to drive the frame to synchronously turn ninety degrees.

Further, the overturning assembly comprises an arc-shaped guide rail, a sliding block, a fixing frame, a winding wheel, a first motor and a connecting rope, the arc-shaped guide rail is installed on the support, the sliding block and the arc-shaped guide rail form sliding fit, the fixing frame is installed on the sliding block, the first movable rod and the air cylinder are both installed on the fixing frame, the winding wheel is installed at the top of the support, the first motor is connected with the winding wheel, the connecting rope is installed on the winding wheel, and the end part of the connecting rope is connected with the fixing frame; the overturning assembly further comprises a second winding wheel and a third motor for driving the second winding wheel, a second connecting rope is arranged on the second winding wheel, and the second connecting rope is connected with the other corner of the fixing frame.

Furthermore, rubber sleeves are sleeved outside the first movable rod, the second movable rod and the fixed rod, and are made of flame-retardant rubber.

Furthermore, a bearing is arranged between the fixed rod and a rubber sleeve sleeved outside the fixed rod.

Further, the support is including the riser, and upset subassembly and dead lever are all installed at the medial surface of riser.

Further, open press from both sides the device and include two tracks that set up side by side, a plurality of guide pulleys are all installed at the top of every arm, and the guide pulley card is on the track, and the arm passes through the guide pulley hoist and mount on the track, open press from both sides the device and still include motor two, driving plate, connecting rod one and connecting rod two, motor two sets up the intermediate position at two arms to motor two is fixed in the track below, and the driving plate is installed on motor two's main shaft, and a arm is connected through connecting rod one and connecting rod two respectively at the driving plate both ends, and it is rotatory to drive the driving plate through motor two, drives two arms by connecting rod one and connecting rod two and does relative and back-to-back motion.

The invention also discloses a use method of the special manual pallet car frame flexible carrying device for the manipulator, which comprises the following steps:

the lifting device is matched with the existing conveying device and the existing lifting device to work together, the conveying device conveys the frame welded by the machine to a specified position, and when the special manual pallet car frame flexible carrying device for the manipulator moves above the specified position, the lifting device lifts the frame between the two mechanical arms;

the tensioning and clamping device drives the two mechanical arms to move oppositely, the fixed rods and the movable rods on the two mechanical arms move to the lower part of the frame, the lifting device descends, and the frame is supported by the fixed rods and the movable rods;

when the bicycle is lifted, the cylinders on the two mechanical arms drive the corresponding second movable rods to press the bicycle frame;

after the frame is fixed, the translation device drives the frame to a welding area beside the conveying device;

after the welding area is reached, the overturning assembly works, the first motor drives the winding wheel, the connecting rope drags the fixing frame to move along the arc-shaped guide rail, the frame is overturned by ninety degrees, and a welding worker starts to weld the frame at the welding position on a straight surface;

and after welding, conveying the frame back to the conveying equipment again, and conveying the frame to a subsequent station.

The embodiment of the invention adopts at least one technical scheme which can achieve the following beneficial effects:

the frame flexible carrying device of the manual tray special for the manipulator adopts a mode that two mechanical arms in mirror symmetry support the frame from two sides of the frame to carry out transfer on the frame, and meanwhile, a part for fixing the frame in the transfer process and a part for overturning the frame during welding all pass through three rod bodies which are respectively a fixed rod, a first movable rod and a second movable rod; when the frame is transported, the two mechanical arms are positioned at two sides of the frame, the upper end surfaces of the fixed rod and the movable rod I are positioned on a horizontal plane, the fixed rod and the movable rod I support the frame, and the cylinder drives the movable rod II to press the upper part of the frame to fix the frame; when welding is carried out in a welding area, the turnover assembly drives the first movable rod and the second movable rod to vertically turn for ninety degrees around the fixed rod, the fixed rod and the first movable rod are on the same vertical line, the frame is driven to synchronously turn for ninety degrees in the turnover process, and a welder can weld a straight welding point; compared with the prior art, the front and the rear surfaces of the frame are used as main welding positions, no part can block the operation of a welder, and the repair welding can be guaranteed to be comprehensive to the greatest extent.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of a first perspective structure of the present invention;

FIG. 2 is a schematic view of a second perspective structure of the present invention;

FIG. 3 is a schematic view of a robotic arm of the present invention;

FIG. 4 is a side view of the frame in a horizontal position;

FIG. 5 is a side view of the frame after being flipped;

FIG. 6 is a schematic view of the fitting relationship between the front of the two mechanical arms fixed to the frame and the frame;

FIG. 7 is a front perspective view of the frame in a horizontal position;

FIG. 8 is a front perspective view of the frame after being flipped;

reference numerals: 1. a clamping device; 11. a track; 12. a second motor; 13. a drive plate; 14. a first connecting rod; 15. a second connecting rod; 2. a mechanical arm; 21. a support; 211. a vertical plate; 22. fixing the rod; 23. a first movable rod; 24. a second movable rod; 25. a cylinder; 26. a turnover assembly; 261. an arc-shaped guide rail; 263. a fixed mount; 264. a winding wheel; 265. a first motor; 266. connecting ropes; 267. a second winding wheel; 268. a second connecting rope; 27. a guide wheel; 3. a vehicle frame.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 3, the embodiment of the invention provides a special manual pallet truck frame flexible carrying device for a manipulator, which comprises a translation device, an opening and clamping device 1 and two mechanical arms 2, wherein the two mechanical arms 2 are distributed in a mirror symmetry manner, the opening and clamping device 1 is connected with the two mechanical arms 2, the opening and clamping device 1 is used for driving the two mechanical arms 2 to move oppositely and oppositely, the translation device is connected with the opening and clamping device 1 and is used for driving the opening and clamping device 1 and the mechanical arms 2 to move between a welding area to be welded and the welding area, the mechanical arms 2 comprise a support 21, a fixed rod 22, a first movable rod 23, a second movable rod 24, a cylinder 25 and a turnover assembly 26, the fixed rod 22 and the turnover assembly 26 are fixed on the support 21, the first movable rod 23 and the cylinder 25 are fixed on the turnover assembly 26, the second movable rod 24 is fixed at the output end of the cylinder 25, the fixed rod 22 and the first movable rod 23 are fixed rod 23, The second movable rods 24 are distributed in a triangular shape;

when the translation device drives the mechanical arms 2 to transfer the frame 3, the two mechanical arms 2 are positioned at two sides of the frame 3, the upper end surfaces of the fixed rod 22 and the movable rod I23 are positioned on the same horizontal plane, as shown in fig. 4, the tensioning and clamping device 1 drives the fixed rod 22 and the movable rod I23 of the two mechanical arms 2 to move to the lower part of the frame 3, the fixed rod 22 and the movable rod I23 support the frame 3, and the cylinder 25 drives the movable rod II 24 to press the upper part of the frame 3;

when welding is carried out in a welding area, the overturning assembly 26 drives the first movable rod 23 and the second movable rod 24 to vertically overturn ninety degrees around the fixed rod 22, the fixed rod 22 and the first movable rod 23 are on a vertical line, as shown in fig. 5, the frame 3 is driven to synchronously overturn ninety degrees, and a welder can weld straight welding points.

According to the special manual pallet car frame flexible carrying device for the manipulator, the car frame 3 is transported in a mode that the two mechanical arms 2 in mirror symmetry support the car frame 3 from two sides of the car frame 3, meanwhile, parts for fixing the car frame 3 in the transporting process and parts for overturning in the welding process are all three rod bodies, the existing structure is greatly simplified, and no part can block the operation of a welder when the front side and the rear side of the car frame 3 are used as main welding positions.

Preferably, referring to fig. 4 and 5, the flipping unit 26 includes an arc-shaped guide 261, a slider, a fixed mount 263, a winding wheel 264, a first motor 265, and a connecting rope 266, the arc-shaped guide 261 is mounted on the bracket 21, the slider and the arc-shaped guide 261 form a sliding fit, the fixed mount 263 is mounted on the slider, both the first movable rod 23 and the air cylinder 25 are mounted on the fixed mount 263, the winding wheel 264 is mounted on the top of the bracket 21, the first motor 265 is connected with the winding wheel 264, the connecting rope 266 is mounted on the winding wheel 264, and the end of the connecting rope 266 is connected with one corner of the fixed mount 263. Referring to fig. 5, the flipping unit 26 further includes a second winding wheel 267 and a third motor driving the second winding wheel 267, a second connecting rope 268 is disposed on the second winding wheel 267, and the second connecting rope 268 is connected to the other corner of the fixed frame 263. The inverting assembly 26 inverts by driving the winding wheel 264 by the first motor 265 and drawing the fixed frame 263 along the arc-shaped guide 261 by the connecting rope 266. And the reset is dragged by a second winding wheel 267, so that the frame 3 is returned to the horizontal state again.

Preferably, rubber sleeves are sleeved outside the first movable rod 23, the second movable rod 24 and the fixed rod 22 to increase friction force and avoid damage to the frame 3, and the diameters of the rubber sleeves can be adapted according to the size of the frame 3 to adapt to different heights. The rubber sleeve is preferably made of flame-retardant rubber such as chloroprene rubber, and the rubber sleeve is prevented from being worn too fast due to splashed sparks in the welding process.

Preferably, a bearing is installed between a rubber sleeve sleeved outside the fixing rod 22 and the fixing rod 22. The effect of bearing is to avoid the rubber sleeve loss too fast, because dead lever 22 holds in the palm in frame 3 below, during the upset, frame 3 is rotatory with dead lever 22 as the fulcrum, does not have the bearing and can lead to the rubber sleeve wearing and tearing serious.

Preferably, the bracket 21 includes a vertical plate 211, the turning assembly 26 and the fixing rod 22 are both installed on the inner side surface of the vertical plate 211, and the vertical plate 211 serves to provide a mounting surface and also serves to prevent welding sparks from splashing around, so as to achieve the purpose of protection.

Preferably, as shown in fig. 1 and 2, the stretching and clamping device 1 includes two rails 11 arranged in parallel, a plurality of guide wheels 27 are mounted at the top of each mechanical arm 2, the guide wheels 27 are clamped on the rails 11, the mechanical arms 2 are hung on the rails 11 through the guide wheels 27, the stretching and clamping device 1 further includes a second motor 12, a transmission plate 13, a first connecting rod 14 and a second connecting rod 15, the second motor 12 is disposed at the middle position of the two mechanical arms 2, the second motor 12 is fixed below the rails 11, the transmission plate 13 is mounted on a spindle of the second motor 12, two ends of the transmission plate 13 are respectively connected with one mechanical arm 2 through the first connecting rod 14 and the second connecting rod 15, the transmission plate 13 is driven to rotate by the second motor 12, and the two mechanical arms 2 are driven to move relatively and oppositely by the first connecting rod 14 and the second connecting rod 15.

When the special manual pallet car frame flexible carrying device for the manipulator moves to a position above a specified position, the lifting device lifts the car frame 3 between the two mechanical arms 2.

Subsequently, the clamping device 1 drives the two mechanical arms 2 to move towards each other, the fixed rods 22 and the first movable rods 23 on the two mechanical arms 2 move to the lower part of the frame 3, the lifting device descends, the frame 3 is supported by the fixed rods 22 and the first movable rods 23, and then the air cylinders 25 on the two mechanical arms 2 drive the second movable rods 24 to press the frame 3, as shown in fig. 6 and 7.

Subsequently, the translation device drives the frame 3 to a welding area beside the conveying device, the overturning assembly 26 works, the first motor 265 drives the winding wheel 264, the connecting rope 266 pulls the fixing frame 263 to move along the arc-shaped guide rail 261, the frame 3 is overturned by ninety degrees, and as shown in fig. 8, a straight welding worker at the welding position of the frame 3 is enabled to conveniently weld the frame. After welding, the frame 3 is returned to the conveying equipment again, and then is conveyed to the subsequent station.

The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.