CN104175213B - Puma manipulator - Google Patents
Puma manipulator Download PDFInfo
- Publication number
- CN104175213B CN104175213B CN201410391371.7A CN201410391371A CN104175213B CN 104175213 B CN104175213 B CN 104175213B CN 201410391371 A CN201410391371 A CN 201410391371A CN 104175213 B CN104175213 B CN 104175213B
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- electromagnetism
- negative pressure
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- cylinder
- pressure sucker
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- 230000009471 action Effects 0.000 claims abstract description 14
- 230000003139 buffering effect Effects 0.000 claims abstract description 7
- 230000001360 synchronised effect Effects 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 7
- 229910001651 emery Inorganic materials 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000007306 turnover Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
- B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of puma manipulator, crossbeam is provided with the mechanical arm along horizontal guide rail action, mechanical arm is provided with riser guide, cylinder is installed on the robotic arm, air cylinder driven electromagnetism or negative pressure sucker lift along riser guide, it is slidably connected between electromagnetism or negative pressure sucker and cylinder, between electromagnetism or negative pressure sucker and cylinder, is provided with the spring for buffering.A kind of puma manipulator that the present invention provides, arrange air cylinder driven lift and coordinate the mode for the spring buffered, simplify the structure of mechanical arm, especially simplify control mode, only need the high-low limit point by cylinder to carry out control action precision, significantly simplify control difficulty.By the way of using spring buffer, thus without accurately controlling the height and position of machinery.In optional scheme, the horizontal drive of mechanical arm uses Timing Belt, fixes in particular by Timing Belt, and the mode of driving wheel motion, reduce the cost of equipment.
Description
Technical field
The present invention relates to mechanical hand field, a kind of puma manipulator simplifying existing machinery hand control complexity.
Background technology
In the truncated cone-shaped batch workpiece course of processing, enterprise staff demand is big, and usual poor working environment labor intensity is high, and workman can not multi-machine operation.In the course of the work, owing to material thickness differs, finished product requires strict, requires the highest to employee quality.In economic and today of science and technology high speed development, conventional grinding machine is increasingly not suitable with extensive modern production.
Chinese patent literature CN 102328251 A, discloses a kind of Intelligent horizontal shaft truncated cone surface grinding machine, and including grinder bed, workbench, the side of workbench is provided with turn-over rig, automatic measuring thickness device, workpiece and bench clean device and workpiece storage position；Workbench, turn-over rig and workpiece storage position be arranged over mechanical hand.A kind of Intelligent horizontal shaft truncated cone surface grinding machine that the present invention provides, by the turn-over rig, automatic measuring thickness device and the mechanical hand that arrange, it is achieved that without the two sides of artificial interference ground automatization precessing saw sheet matrix, greatly improve production efficiency.And owing to each step is by programme-control, decrease personal error, improve the quality of workpiece.But this grinder structure is complex, the especially structure of mechanical hand, the mode using leading screw to drive needs more employing servomotor, the height controlling mechanical hand is also required to more sensor, more sensor also makes control system increasingly complex, the maloperation caused because of Sensor failures easily occurs.And, the mode speed using leading screw to drive is slower.
Summary of the invention
The technical problem to be solved is to provide a kind of puma manipulator, can significantly simplify the structure of mechanical hand, further, simplified control system, reduces the probability of maloperation.Improve the speed of service, reduce holistic cost.
For solving above-mentioned technical problem, the technical solution adopted in the present invention is: a kind of puma manipulator, crossbeam is provided with the mechanical arm along horizontal guide rail action, mechanical arm is provided with riser guide, cylinder is installed on the robotic arm, being connected between electromagnetism or negative pressure sucker with cylinder, air cylinder driven electromagnetism or negative pressure sucker lift along riser guide, are provided with the spring for buffering between electromagnetism or negative pressure sucker and cylinder.
In optional scheme, being provided with the Timing Belt arranged along horizontal guide rail on crossbeam, the two ends of Timing Belt are fixedly mounted on the two ends of crossbeam；
Mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is provided with the synchronous pulley engaged with Timing Belt, and synchronous pulley is connected with fixed installation mechanical hand servomotor on the robotic arm.
Preferably in scheme, being provided with straining pulley in the both sides of synchronous pulley, straining pulley is positioned at the opposite side that Timing Belt is relative with synchronous pulley, so that the cornerite between synchronous pulley and Timing Belt increases.
In optional scheme, being provided with tooth bar on crossbeam, mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is provided with and tooth bar meshed gears, and gear is connected with fixed installation mechanical hand servomotor on the robotic arm.
In optional scheme, being provided with ball screw framework on crossbeam, mechanical arm is slidably mounted on horizontal guide rail, and mechanical arm is connected with the nut piece of ball screw framework, and hard-wired servomotor is fixing with the leading screw part of ball screw framework to be connected.
Preferably in scheme, being provided with workpiece guide rod in the lower section of mechanical arm, when air cylinder driven electromagnetism or negative pressure sucker are positioned at limit superior point, the lower surface of electromagnetism or negative pressure sucker and the distance of workpiece guide rod upper surface, more than the thickness of a workpiece, less than the thickness of two workpiece.
Preferably in scheme, the integral thickness of the cushion stroke of described spring stacking actual more than or equal to workpiece guide rod workpiece.
Preferably in scheme, electromagnetism or negative pressure sucker are provided with the sensor of sensing workpiece.
Preferably in scheme, described sensor is mechanical type contact switch, giant magnetoresistance non-contact switch or photoswitch.
Preferably in scheme, described sensor is connected with controlling device, is controlled electromagnetism or the crawl of negative pressure sucker by controlling device according to the signal of sensor and puts down action, and controlling the lifting action of cylinder.
A kind of puma manipulator that the present invention provides, arrange air cylinder driven lift and coordinate the mode for the spring buffered, simplify the structure of mechanical arm, especially simplify control mode, only need the high-low limit point by cylinder to carry out control action precision, significantly simplify control difficulty.By the way of using spring buffer, thus without accurately controlling the height and position of machinery.In optional scheme, the horizontal drive of mechanical arm uses Timing Belt, fixes in particular by Timing Belt, and the mode of driving wheel motion, reduce the cost of equipment.
Accompanying drawing explanation
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is Timing Belt and synchronous pulley annexation schematic top plan view in the present invention.
Fig. 3 is the overall structure schematic diagram of the present invention.
In figure: crossbeam 1, horizontal guide rail 2, Timing Belt 3, straining pulley 4, synchronous pulley 5, mechanical hand servomotor 6, riser guide 7, thickness detection apparatus 8, lift ball-screw 9, pressing plate 10, cylinder 11, magnechuck 12, emery wheel 13, electrical control cubicles 14, workbench 15, table feed servomotor 16, flip-arm 17, rotary cylinder 18, ball screw for feeding 19, cleaning manipulator 20, finished product seat 21, emery wheel lift servo motor 22, central control board 23, work piece platform 24, workpiece guide rod 25, working station indicator 26, spring 27.
Detailed description of the invention
Embodiment 1:
In Fig. 1～2, a kind of puma manipulator, crossbeam 1 is provided with the mechanical arm along horizontal guide rail 2 action, mechanical arm is provided with riser guide 7, cylinder 11 is installed on the robotic arm, being slidably connected between electromagnetism or negative pressure sucker 12 and cylinder 11, cylinder 11 drives electromagnetism or negative pressure sucker 12 to lift along riser guide 7, is provided with the spring 27 for buffering between electromagnetism or negative pressure sucker 12 and cylinder 11.When the piston rod of cylinder 11 stretches out, driving electromagnetism or negative pressure sucker 12 descending, if now electromagnetism or negative pressure sucker 12 encounter obstacle, such as workpiece, then spring 27 shrinks, it is achieved buffering.Avoid hard contact damage electromagnetism or negative pressure sucker 12.Arrange spring 27 to be advantageous in that, it is not necessary to additionally arrange high-precision lifting position sensor, it is only necessary to arrange contact switch and can realize controlling the piston rod of cylinder 11, thus control electromagnetism or the lifting of negative pressure sucker 12.Preferably in scheme, the cushion stroke of described spring 27 is more than or equal to the integral thickness of workpiece guide rod 25 actual stacking workpiece 26.Thus structure, even if contact switch damages, owing to the existence of spring does not results in electromagnetism or the damage of negative pressure sucker 12 yet.
In optional scheme, being provided with the Timing Belt 3 arranged along horizontal guide rail 2 on crossbeam 1, the two ends of Timing Belt 3 are fixedly mounted on the two ends of crossbeam 1；
Mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with the synchronous pulley 5 engaged with Timing Belt 3, and synchronous pulley 5 is connected with fixed installation mechanical hand servomotor 6 on the robotic arm.Thus structure, simplifies drive mechanism, it is simple to installing, wherein Timing Belt 3 generally uses polyurethane synchronous belt, processes very convenient.And the high-volume of being easy to that synchronous pulley 5 and straining pulley 4 can also use polyurethane or nylon material is processed, and reduces cost.
Preferably in scheme such as Fig. 2, being provided with straining pulley 4 in the both sides of synchronous pulley 5, straining pulley 4 is positioned at the opposite side that Timing Belt 3 is relative with synchronous pulley 5, so that the cornerite between synchronous pulley 5 and Timing Belt 3 increases.Thus structure, can improve control accuracy, it is preferred that the straining pulley 4 above-below direction regulation along Fig. 2, in order to installation and removal.
In optional scheme, being provided with tooth bar on crossbeam 1, mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with and tooth bar meshed gears, and gear is connected with fixed installation mechanical hand servomotor 6 on the robotic arm.Thus structure, it is achieved be quickly accurately controlled.Not shown in figure.
In optional scheme, being provided with ball screw framework on crossbeam 1, mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is connected with the nut piece of ball screw framework, and hard-wired servomotor is fixing with the leading screw part of ball screw framework to be connected.Thus structure, it is achieved be accurately controlled.Not shown in figure.
Preferably in scheme such as Fig. 1, workpiece guide rod 25 it is provided with in the lower section of mechanical arm, when cylinder 11 drives electromagnetism or negative pressure sucker 12 to be positioned at limit superior point, the lower surface of electromagnetism or negative pressure sucker 12 and the distance of workpiece guide rod 25 upper surface, more than the thickness of a workpiece, less than the thickness of two workpiece.Thus structure, for the piece count that ingenious restriction is crawled.In this example, workpiece guide rod 25 can also can be stopped the structure of workpiece, such as plate by other, is substituted.
Preferably in scheme, electromagnetism or negative pressure sucker 12 are provided with the sensor of sensing workpiece.Thus structure, stops control signal to provide during declining at mechanical arm, and provides electromagnetism or negative pressure sucker 12 to start the signal of action.
Preferably in scheme, described sensor is mechanical type contact switch, giant magnetoresistance non-contact switch or photoswitch.Different types of sensor can be selected according to different occasions.
Preferably in scheme, described sensor is connected with controlling device, is controlled electromagnetism or the crawl of negative pressure sucker 12 by controlling device according to the signal of sensor and puts down action, and controlling the lifting action of cylinder 11.
Embodiment 2:
For further illustrating advantages of the present invention, especially exemplified by going out an example that the mechanical hand of the present invention is applied to grinding machine, in order to understand the present invention.
In Fig. 3, a kind of Split type intelligent grinding machine, including crossbeam 1, crossbeam 1 is provided with the mechanical arm along horizontal guide rail 2 action, being sequentially provided with work piece platform 24, thickness detection apparatus 8, flip-arm 17 and workbench 15 below crossbeam 1, workbench 15 is provided with and drives its motor rotated, and workbench assembly is connected with the nut piece of ball screw for feeding 19, table feed servomotor 16 is connected with the leading screw part of ball-screw 19, it is achieved the feeding of workbench 15.It is additionally provided with cleaning manipulator 20 in workbench 15 side, for cleaning workpiece and workbench 15, is arranged over, at workbench 15, sheet devices of having blown, for destroying the moisture film of surface of the work, makes workpiece separate with workbench 15 surface.Work piece platform 24 is provided with workpiece guide rod 25, it is preferred that be additionally provided with finished product seat 21 in work piece platform 24 side, is used for keeping in finished product, or omits finished product seat 21, by the direct discharging of mechanical hand 20 to hopper.
Preferably, using Split type structure, crossbeam 1, mechanical arm, work piece platform 24, finished product seat 21, thickness detection apparatus 8, flip-arm 17 and workbench 15 are the most a part of, and grinding machine is another part.The emery wheel 13 of grinding machine is positioned at the oblique upper of workbench 15, emery wheel 13 is connected with main shaft and driving motor, whole emery wheel assembly is connected with the nut piece in lifting ball-screw 9, leading screw part in lifting ball-screw 9 is arranged in the frame of grinding machine, emery wheel lift servo motor 22 drives leading screw part to rotate, to realize the lifting of emery wheel assembly.Use split type structure, existing grinding machine can be made full use of, reduce the use cost of user.Further, crossbeam and mechanical arm assembly can also use Split type structure with the assembly of workbench 15, to utilize existing workbench 15 assembly.
The present invention, before and after the grinding of workpiece, utilizes the 806 pairs of thickness of workpiece of detection in thickness detection apparatus 8 to measure, and obtains saw blade thickness of workpiece value, and calculates grinding parameter based on this and control grinding flow process；Utilize the mechanical hand that independent PLC controls, it is achieved the automatic loading/unloading of saw blade workpiece；The electrical control cubicles 14 being equipped with and central control board 23 achieve the full-automatic grinding processing of workpiece.Workpiece grinding and mechanical hand loading and unloading parallel running, it is achieved that full-automatic loading and unloading, workpiece turn-over, bench clean.Workpiece material thickness finished product thickness measures classification automatically.Automatically control grinding machine and the amount of feeding of workbench 15.
The present invention has 5 stations.Center control is carried out by 1 central control system.1 displacement detecting head is measured system and is carried out thickness measure.Completed cooling by 1 water treatment machine structure to clean.
The present invention not only saves a large amount of process time, and workpiece grinding process is full-automatic；Achieve high efficiency, in high precision, easily operation, the target of environmental protection.
In Fig. 2, mechanical arm is provided with riser guide 7, and cylinder 11 is installed on the robotic arm, drives electromagnetism or negative pressure sucker 12 to lift along riser guide 7, electromagnetism or negative pressure sucker 12 are slidably connected with cylinder 11, it is provided with the spring 27 for buffering between electromagnetism or negative pressure sucker 12 and cylinder 11, when the piston rod of cylinder 11 is fully extended, drives electromagnetism or negative pressure sucker 12 descending, if now electromagnetism or negative pressure sucker 12 encounter obstacle, such as workpiece, then spring 27 shrinks, it is achieved buffering.
Preferably as in Fig. 1, when cylinder 11 drives electromagnetism or negative pressure sucker 12 to be positioned at limit superior point, the lower surface of electromagnetism or negative pressure sucker sucker 12 and the distance of workpiece guide rod 25 upper surface, more than the thickness of a workpiece 26, less than the thickness of two workpiece.Thus structure, it is ensured that the most only can pick up a workpiece, unnecessary workpiece can be stopped by the upper end of workpiece guide rod 25 and fall.When described electromagnetism or negative pressure sucker 12 are positioned at limit superior point, the position, lower surface of electromagnetism or negative pressure sucker 12, the most concordant with the operating position of thickness detection apparatus 8, flip-arm 17 and workbench 15.During so that electromagnetism on mechanical arm or negative pressure sucker 12 are positioned at limit superior point, workpiece translational motion can be transported to thickness detection apparatus 8 and carry out Thickness sensitivity；On flip-arm 17, carry out workpiece turn-over and carry out workpiece grinding on workbench 15.
The cushion stroke of described spring 27 is more than or equal to the integral thickness of workpiece guide rod 25 actual stacking workpiece 26.Thus structure, so that mechanical arm is without controlling electromagnetism or the most descending height of negative pressure sucker 12, as long as make cylinder 11 be in the position of limit inferior point, electromagnetism or negative pressure sucker 12 time delay touching switch control under, the workpiece of arbitrary height on workpiece guide rod 25 can be picked up.Thereby simplify control difficulty, after also avoiding the touching switching damage on electromagnetism or negative pressure sucker 12, cause electromagnetism or negative pressure sucker 12 to damage.Cylinder 11 is coordinated to be positioned at position and the height of workpiece guide rod 25 of limit superior point, it is ensured that the most only can pick up a workpiece.
Being provided with the Timing Belt 3 arranged along horizontal guide rail 2 on crossbeam 1, the two ends of Timing Belt 3 are fixedly mounted on the two ends of crossbeam 1；
Mechanical arm is slidably mounted on horizontal guide rail 2, and mechanical arm is provided with the synchronous pulley 5 engaged with Timing Belt 3, and synchronous pulley 5 is connected with fixed installation mechanical hand servomotor 6 on the robotic arm.Thus structure, simplifies structure, reduces cost.Especially compared with gear, rack drives mode, owing to the length of Timing Belt 3 is easy to cut out, and batch production cost is relatively low, therefore can reduce use cost.Compared with screw-nut body, process and reduce outside cost, it is also possible to improve the speed of service.
Be provided with straining pulley 4 in the both sides of synchronous pulley 5, straining pulley 4 is positioned at the opposite side that Timing Belt 3 is relative with synchronous pulley 5, so that the cornerite between synchronous pulley 5 and Timing Belt 3 increases.Preferably as in Fig. 3, the position of straining pulley 4 is can upper and lower regulation, in order to adjusts and dismantles.
Claims (6)
1. a puma manipulator, it is characterized in that: crossbeam (1) is provided with the mechanical arm along horizontal guide rail (2) action, mechanical arm is provided with riser guide (7), cylinder (11) is installed on the robotic arm, it is connected between electromagnetism or negative pressure sucker (12) with cylinder (11), cylinder (11) drives electromagnetism or negative pressure sucker (12) to lift along riser guide (7), is provided with the spring (27) for buffering between electromagnetism or negative pressure sucker (12) and cylinder (11)；
The cushion stroke of described spring (27) is more than or equal to the integral thickness of workpiece guide rod (25) actual stacking workpiece (26)；
Being provided with the Timing Belt (3) arranged along horizontal guide rail (2) on crossbeam (1), the two ends of Timing Belt (3) are fixedly mounted on the two ends of crossbeam (1)；
Mechanical arm is slidably mounted on horizontal guide rail (2), and mechanical arm is provided with the synchronous pulley (5) engaged with Timing Belt (3), and synchronous pulley (5) is connected with fixed installation mechanical hand servomotor (6) on the robotic arm.
A kind of puma manipulator the most according to claim 1, it is characterized in that: be provided with straining pulley (4) in the both sides of synchronous pulley (5), straining pulley (4) is positioned at the opposite side that Timing Belt (3) is relative with synchronous pulley (5), so that the cornerite between synchronous pulley (5) and Timing Belt (3) increases.
A kind of puma manipulator the most according to claim 1, it is characterized in that: be provided with workpiece guide rod (25) in the lower section of mechanical arm, when cylinder (11) drives electromagnetism or negative pressure sucker (12) to be positioned at limit superior point, the lower surface of electromagnetism or negative pressure sucker (12) and the distance of workpiece guide rod (25) upper surface, more than the thickness of a workpiece (26), less than the thickness of two workpiece.
A kind of puma manipulator the most according to claim 1, is characterized in that: electromagnetism or negative pressure sucker (12) are provided with the sensor of sensing workpiece.
A kind of puma manipulator the most according to claim 4, is characterized in that: described sensor is mechanical type contact switch, giant magnetoresistance non-contact switch or photoswitch.
A kind of puma manipulator the most according to claim 4, it is characterized in that: described sensor is connected with controlling device, controlled electromagnetism or the crawl of negative pressure sucker (12) by controlling device according to the signal of sensor and put down action, and controlling the lifting action of cylinder (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391371.7A CN104175213B (en) | 2014-08-11 | 2014-08-11 | Puma manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410391371.7A CN104175213B (en) | 2014-08-11 | 2014-08-11 | Puma manipulator |
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| Publication Number | Publication Date |
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| CN104175213A CN104175213A (en) | 2014-12-03 |
| CN104175213B true CN104175213B (en) | 2016-08-31 |
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| CN201410391371.7A Active CN104175213B (en) | 2014-08-11 | 2014-08-11 | Puma manipulator |
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| CN110567415A (en) * | 2019-10-17 | 2019-12-13 | 上海精智实业股份有限公司 | Coating thickness detection device |
| CN111590433A (en) * | 2020-06-24 | 2020-08-28 | 四川纽赛特工业机器人制造有限公司 | Robot polishing production line |
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| CN104175213A (en) | 2014-12-03 |
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