CN107627294A - The flapping articulation manipulator that a kind of sheet metal part is carried - Google Patents
The flapping articulation manipulator that a kind of sheet metal part is carried Download PDFInfo
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- CN107627294A CN107627294A CN201610563714.2A CN201610563714A CN107627294A CN 107627294 A CN107627294 A CN 107627294A CN 201610563714 A CN201610563714 A CN 201610563714A CN 107627294 A CN107627294 A CN 107627294A
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Abstract
The invention discloses the flapping articulation manipulator that a kind of sheet metal part is carried, and it includes being sequentially connected 3 rotary joint parts, and the part of rotary joint 1 includes the servomotor of rotary joint 1, the reductor of rotary joint 1, the main shaft of rotary joint 1；The part of rotary joint 2 includes the servomotor of rotary joint 2, the belt driver of rotary joint 2, the reductor of rotary joint 2, the swing arm of rotary joint 2；The part of rotary joint 3 includes the servomotor of rotary joint 3, the belt driver of rotary joint 3, the reductor of rotary joint 3, electromagnet stent；The part of rotary joint 1, the part of rotary joint 2 and the part of rotary joint 3 are by electric controling assembly control action.Each joint reductor is harmonic wave speed reducing machine, and the servomotor in each joint is absolute value type servomotor.Beneficial effects of the present invention are：Each rotary joint concurrently-acting, greatly save the positioning time of manipulator；Positioning precision is high, position error is small；And power off after need not back to zero operation, more convenient operation.
Description
Technical field
The present invention relates to technical field of automation, more particularly to a kind of each rotary joint concurrently-acting, positioning time are short, fixed
The flapping articulation manipulator that position precision is high, position error is small, easy to operate sheet metal part is carried.
Background technology
With the development of automatic technology, in press field, the use of manipulator is more and more extensive, and it is significantly less
Manual labor, human resources are saved, improved production efficiency, receive the favor of more and more machinery plants.
For stamping mechanical arm structure of the prior art as shown in accompanying drawing 1 to accompanying drawing 3, it mainly includes following component：
Lifting spindle, main shaft rotary shaft, telescopic arm, workpiece rotary shaft etc..
Lifting spindle part：Lifting shaft servomotor A01 is connected through lifting shaft shaft coupling A02 with ball screw A04, ball
Screw mandrel A04 both ends are fixed on riser A11 by screw mandrel fixed seat A03 and screw mandrel support seat A06 respectively.Lifter plate A08 is in straight line
Under guide rail A07 correcting effect, linked together with ball nut fixed seat A05, lifting shaft servomotor A01's is positive or anti-
To rotary motion, lifter plate A08 up and down motion can be converted into through this mechanism.Lifting spindle A10 is by main shaft fixture A09 with rising
Drop plate A08 is fixed together, so as to realize the purpose of lifting.
Main shaft rotates shaft portion：Main shaft rotating servo motor B01 is fixed on planetary reducer B02 input, and planet subtracts
Speed motor B02 output end fixed main shaft rotary shaft B03.When main shaft rotating servo motor B01 rotates forward or backwards, main shaft
Rotary shaft B03 can carry out horizontal rotation positioning.
Telescopic arm part：The synchronized belt C02 connections telescopic arm C03 of telescopic shaft servomotor C01, in line slideway and cunning
Under block C04 correcting effect, telescopic shaft servomotor C01 rotary motion forward or backwards, that is, the straight line of telescopic arm is converted into
Motion.
Workpiece rotary shaft part：Workpiece rotary shaft servomotor D01 is fixed on telescopic arm C03, and it passes through synchronous belt
D02 is connected with synchronizing wheel D03, and suction electromagnet stent D04 fixes with synchronizing wheel D03 phases, so, workpiece rotary shaft servomotor
D01 rotary motion forward or backwards, that is, be converted into the rotary motion of suction electromagnet stent, and D05 is workpiece.
Its action process describes：As shown in Figure 4, wherein, F01 is upper process punch press, and F02 is lower process punch press, and F03 is
Stamping mechanical arm, above-mentioned stamping mechanical arm action process are as follows：
Stamping mechanical arm, which is first stopped at, treats feeding point position, after the completion of upper process punching press, 1>Main shaft rotary shaft B03 is rotated to feeding
Point--2>Telescopic arm C03 stretches out--3>Suction electromagnet stent D04 is rotated to feeding point position--4>Under lifting spindle A08
It is down to suction height--5>Suction electromagnet action suction--6>Lifting spindle A08 position to treat feeding height--7>Stretch
Contracting arm C03 retractions--8>Main shaft rotary shaft B03 and suction electromagnet stent D04 is rotated to treating tapping point--9>Lifting spindle
A08, which is navigated to, treats feeding height--10>Treat that lower process punch press feeding completes--11>Main shaft rotary shaft B03 is rotated to blowing
Point--12>Telescopic arm C03 stretches out--13>Suction electromagnet stent D04 is rotated to tapping point position--14>Lifting spindle
A08 drops to blowing height--15>Suction electromagnet action blowing--16>Lifting spindle A08 is positioned to treating blowing height
Degree--17>Telescopic arm C03 retractions--18>Main shaft rotary shaft B03 and suction electromagnet stent D04 is rotated to treating feeding
Point--19>Lifting spindle A08, which is navigated to, treats feeding height--20>Treat that process punch press feeding is completed.
Above-mentioned stamping mechanical arm has the following disadvantages：
1st, as shown in Figure 2, stamping mechanical arm telescopic arm uses synchronizing wheel stretching structure, in actual production environment, by wire body
Put and be limited in action process, respectively walk equal sequentially-operating, it is impossible to act simultaneously.So that single handling time is longer；
2nd, because main shaft rotary shaft and workpiece rotary shaft are only with planet-gear speed reducer, and telescopic shaft is driven using synchronous pulley
Dynamic, this all make it that workpiece grabbing position error is larger；Product fraction defective is higher；
3rd, because each axle servomotor uses increment size servomotor, each axle origin is detected using proximity switch, every time on
After electricity and jerk, each axle is both needed to independent back to zero, and operation is cumbersome, and clear point has error every time；
4th, operated when each axle servo adjusts machine using crawl, each shaft position can not become more meticulous adjustment, and tune machine is not convenient and swift enough.
The content of the invention
In order to solve the problems of the prior art, it is an object of the invention to provide the water that a kind of new sheet metal part is carried
Flat joint Manipulator, its each rotary joint concurrently-acting, greatly save positioning time of manipulator；Positioning precision is high, fixed
Position error is small；And power off after need not back to zero operation, more convenient operation.
To achieve these goals, the technical solution adopted by the present invention is：
The flapping articulation manipulator that a kind of sheet metal part is carried, it includes lifting spindle part, and the lifting spindle part includes
Lifting shaft servomotor and the lifting spindle for being driven by the lifting shaft servomotor and being moved up and down；It also includes being sequentially connected
The part of rotary joint 1, the part of rotary joint 2 and the part of rotary joint 3；Watched including rotary joint 1 part of rotary joint 1
Motor, the reductor of rotary joint 1 located at the servo motor output shaft end of rotary joint 1 are taken, rotary joint 1 is fixed on and slows down
The main shaft of rotary joint 1 of machine output shaft end, the reductor of rotary joint 1 are fixed on the top of the lifting spindle；The rotation
Turn the part of joint 2 include be fixed on the main shaft of rotary joint 1 the servomotor of rotary joint 2, be set in it is described rotation close
Save the belt driver of rotary joint 2 of 2 servomotor shaft ends, the rotation located at the belt driver output end of rotary joint 2
The reductor of joint 2, the horizontal swing arm of rotary joint 2 for being fixed on the output end of reducer of rotary joint 2；The rotary joint 3
Part includes being fixed on the servomotor of rotary joint 3 on the swing arm top of rotary joint 2 vertically, located at the rotary joint 3
The belt driver of rotary joint 3 at servo motor output shaft end, the rotation located at the belt driver output end of rotary joint 3
The reductor of joint 3, the electromagnet stent located at the output end of reducer bottom of rotary joint 3；The part of rotary joint 1,
The part of rotary joint 2 and the part of rotary joint 3 are by electric controling assembly control action.
Preferable scheme, the electric controling assembly include passing sequentially through the connected hand pulse generation of CANLINK buses
Device, programmable controller, lifting shaft servo-driver, the servo-driver of rotary joint 1, the servo-driver of rotary joint 2, rotation
The servo-driver of joint 3, the lifting shaft servo-driver are connected with lifting shaft servomotor, and the servo of rotary joint 1 is driven
Dynamic device is connected with the servomotor of rotary joint 1, and the servo-driver of rotary joint 2 is connected with the servomotor of rotary joint 2, institute
The servo-driver of rotary joint 3 is stated with the servomotor of rotary joint 3 to be connected.
Further preferred scheme, by swollen between the servomotor of rotary joint 2 and rotary joint 2 belt driver
Tight set is fixedly connected.
Scheme still further preferably, pass through between the servomotor of rotary joint 3 and rotary joint 3 belt driver
Expansion sleeve is fixedly connected.
Scheme still more preferably, the reductor of rotary joint 1, the reductor of rotary joint 2 and the rotary joint 3 slow down
Machine is harmonic wave speed reducing machine.
The belt driver of rotary joint 3 is located at the inside of the swing arm of rotary joint 2.
The servomotor of rotary joint 1, the servomotor of rotary joint 2, the servomotor of rotary joint 3 are absolute value type
Servomotor.
By using above technical scheme, flapping articulation manipulator and prior art that a kind of sheet metal part of the present invention is carried
Compare, its advantage is：
1st, after the present invention is using above mechanical structure and electric controling part, the part of rotary joint 1, the part of rotary joint 2, rotation
The part of joint 3 in the position fixing process of workpiece, can synchronization action, greatly save positioning time of shifting mechanical arm, improve
Production efficiency.
2nd, because rotary joint 1, rotary joint 2, rotary joint 3 use accurate harmonic wave speed reducing machine, each shaft mechanical positioning
Precision is high, and product orientation error is small so that product fraction defective is greatly reduced, so as to improve the quality of product.
3rd, each axle servomotor uses absolute value type servomotor, can pass through each servo motor shaft of battery storage after power-off
Current location.Again after upper electric or board jerk, CANLINK can be passed through and communicate the current location for reading servo motor shaft, each axle
Back to zero operation, more convenient operation need not be carried out.
4th, tune machine introduces Manual pulse generator, each axle crawl operation, by Pulse Width Control, can realize precisely fine setting.
5th, the present invention can realize that each axle is synchronized with the movement, and adjust machine convenient, save handling time.And product orientation is accurate, energy
Greatly improve product yield.
Brief description of the drawings
Fig. 1 is the overall structure front view of stamping mechanical arm in the prior art；
Fig. 2 is the overall structure side view of stamping mechanical arm in the prior art；
Fig. 3 is the dimensional structure diagram of stamping mechanical arm in the prior art；
Fig. 4 is the action process schematic diagram of stamping mechanical arm in the prior art；
Fig. 5 is the front view for the flapping articulation manipulator that a kind of sheet metal part of the present invention is carried；
Fig. 6 is the side view for the flapping articulation manipulator that a kind of sheet metal part of the present invention is carried；
Fig. 7 is the dimensional structure diagram for the flapping articulation manipulator that a kind of sheet metal part of the present invention is carried；
Fig. 8 is the action process schematic diagram for the flapping articulation manipulator that a kind of sheet metal part of the present invention is carried；
Fig. 9 is the movement locus schematic diagram for the flapping articulation manipulator that a kind of sheet metal part of the present invention is carried；
Figure 10 is the electronic schematic diagram for the flapping articulation manipulator that a kind of sheet metal part of the present invention is carried.
Embodiment
To make the object, technical solutions and advantages of the present invention of greater clarity, with reference to instantiation, to the present invention
It is further described.It should be understood that these descriptions are merely illustrative, and it is not intended to limit the scope of the present invention.In addition,
In illustrating below, the description to known features and technology is eliminated, to avoid unnecessarily obscuring idea of the invention.
Can be general the invention provides a kind of each sheet metal part, and high speed transfer positioning can be done, while control each punching
Bed action, realize the flapping articulation manipulator that the sheet metal part of the unmanned production of automation is carried.
As shown in accompanying drawing 5 to accompanying drawing 7, flapping articulation manipulator mechanism of the present invention is mainly made up of 4 parts：Lifting master
Axle, rotary joint 1, rotary joint 2, rotary joint 3.
Lifting spindle part：Lifting shaft servomotor 101 is connected through lifting shaft shaft coupling 102 with ball screw 104, ball
Screw mandrel 104 is fixed on riser 112 by screw mandrel fixed seat 103 and screw mandrel support seat 106.Lifter plate 108 is led in two straight lines
Under the correcting effect of rail 107, it is connected with ball nut fixed seat 105, this just constitutes a mutually basic ball screw lift
Structure, lifting spindle 110 combine as a whole in the presence of main shaft fixture 109 with lifter plate 108.So as to lifting shaft servomotor 101
Rotary motion forward or backwards, through this mechanism, it becomes possible to drive lifting spindle to move up and down.
The part of rotary joint 1：The servomotor 201 of rotary joint 1 is fixed on the input shaft end of RV reductors 202, and RV slows down
Machine 202 is fixed on lifting spindle 110 by screw positioning, and the main shaft of rotary joint 1 is fixed on the output shaft of RV reductors 202
End.So, the rotary motion of the servomotor of rotary joint 1 forward or backwards, after the deceleration of RV reductors 202, can just convert
Motion is positioned for the horizontal rotation of the main shaft of rotary joint 1.
The part of rotary joint 2：The servomotor 301 of rotary joint 2 is fixed on the main shaft 203 of rotary joint 1, rotary joint 2
A synchronous pulley 302 is fixed in the shaft end of servomotor 301 by expansion sleeve, passes through between synchronous pulley 302 and synchronous pulley 304 synchronous
Belt 303 is connected.The harmonic wave speed reducing machine 305 of rotary joint 2 also is secured on the main shaft 203 of rotary joint 1.The swing arm of rotary joint 2
306 are fixed on the output shaft end of the harmonic wave speed reducing machine of rotary joint 2.So, the rotation of the servomotor of rotary joint 2 forward or backwards
Motion, after the deceleration of the rotated harmonic wave speed reducing machine 305 of joint 2, the horizontal rotation with regard to that can be converted into the swing arm of rotary joint 2, which positions, to be made
With.
The part of rotary joint 3：The servomotor 401 of rotary joint 3 is fixed in the swing arm 306 of rotary joint 2, rotary joint 3
A synchronous pulley 402 is fixed in the shaft end of servomotor by expansion sleeve, passes through between synchronous pulley 402 and synchronous pulley 404 synchronous
Belt 403 is connected.The harmonic wave speed reducing machine 405 of rotary joint 3 also is secured in the swing arm 306 of rotary joint 2.Electromagnet stent 406
It is fixed on the output shaft end of the harmonic wave speed reducing machine 405 of rotary joint 3.So, the rotation of the servomotor of rotary joint 3 forward or backwards
Motion, after the deceleration of the rotated harmonic wave speed reducing machine 405 of joint 3, the horizontal rotation that can be converted into suction electromagnet stent is positioned
Effect.
Action process describes：As illustrated in Figure 8 and 9 reference, flapping articulation manipulator, to realize that workpiece is removed from position 1
It is transported to position 2, it is only necessary to control rotary joint 1, rotary joint 2, the angle of the motor of rotary joint 3 rotation.Above-mentioned punching press
Manipulator behavior process is as follows：
Stamping mechanical arm, which is first stopped at, treats feeding point position, after the completion of upper process punching press, 1>Rotary joint 1, rotary joint 2, rotation are closed
Section 3 acts to feeding point--2 simultaneously>Lifting spindle A08 drops to suction height suction--3>Lifting spindle A08 is positioned
To treat feeding height--4>Rotary joint 1, rotary joint 2, rotary joint 3 are acted to treating tapping point--5 simultaneously>Lifting master
Axle A08, which is navigated to, treats blowing height--6>Rotary joint 1, rotary joint 2, rotary joint 3 act to tapping point--7 simultaneously
>Lifting spindle A08 drops to blowing height, electromagnet action blowing--8>Lifting spindle A08 is positioned to treating blowing height
Degree--9>Rotary joint 1, rotary joint 2, rotary joint 3 are acted to treating feeding point--10 simultaneously>Lifting spindle A08 is positioned
To treat feeding height.
Electronic schematic diagram：
As shown in Figure 10, the horizontal transfer joint Manipulator electronic schematic diagram of the present invention.
System main element is by programmable controller E03, lifting shaft servo-driver E04, the servo-driver of rotary joint 1
E05, the servo-driver E06 of rotary joint 2, the servo-driver E07 of rotary joint 3, lifting shaft servomotor E08, rotary joint 1
Servomotor E09, the servomotor E10 of rotary joint 2, the servomotor E11 of rotary joint 3, battery E12, Manual pulse generator
E01 etc. is formed, and in figure, E02 is reception of impulse port, and E13 is CANLINK communication networks.
Servomotor uses absolute value type servomotor, and encoder for servo motor data can be stored by battery.It can compile
Range controller and servo-driver are linked together communication by CANLINK buses, and programmable controller can be read respectively in real time
Motor shaft current location data.The utilization of Manual pulse generator so that each shaft position can be adjusted accurately, facilitate tune machine.
Above-mentioned embodiment is exemplary, is to preferably make skilled artisans appreciate that originally
Patent, it is impossible to be not understood as the limitation for including scope to this patent；As long as times made of spirit according to disclosed in this patent
How with change or modification, the scope that this patent includes is each fallen within.
Claims (7)
1. the flapping articulation manipulator that a kind of sheet metal part is carried, it includes lifting spindle part, the lifting spindle part bag
Include lifting shaft servomotor and the lifting spindle for being driven by the lifting shaft servomotor and being moved up and down；Characterized in that, its
Also include the part of rotary joint 1, the part of rotary joint 2 and the part of rotary joint 3 being sequentially connected；The part of rotary joint 1
The reductor of rotary joint 1, fixation including the servomotor of rotary joint 1, located at the servo motor output shaft end of rotary joint 1
The main shaft of rotary joint 1 in the speed reducer output shaft end of rotary joint 1, the reductor of rotary joint 1 are fixed on the lifting master
The top of axle；The part of rotary joint 2 include be fixed on the main shaft of rotary joint 1 the servomotor of rotary joint 2, set
The belt driver of rotary joint 2 due to the servomotor shaft end of rotary joint 2, fill located at the V belt translation of rotary joint 2
Put the reductor of rotary joint 2 of output end, the horizontal swing arm of rotary joint 2 for being fixed on the output end of reducer of rotary joint 2；
The part of rotary joint 3 includes being fixed on the servomotor of rotary joint 3 on the swing arm top of rotary joint 2 vertically, is located at
The belt driver of rotary joint 3 at the servo motor output shaft end of rotary joint 3, located at the V belt translation of rotary joint 3 fill
Put the reductor of rotary joint 3 of output end, the electromagnet stent located at the output end of reducer bottom of rotary joint 3；It is described
The part of rotary joint 1, the part of rotary joint 2 and the part of rotary joint 3 are by electric controling assembly control action.
2. the flapping articulation manipulator that a kind of sheet metal part according to claim 1 is carried, it is characterised in that described electric
Control assembly includes passing sequentially through the connected Manual pulse generator of CANLINK buses, programmable controller, the drive of lifting shaft servo
Dynamic device, the servo-driver of rotary joint 1, the servo-driver of rotary joint 2, the servo-driver of rotary joint 3, the lifting shaft are watched
Driver is taken with lifting shaft servomotor to be connected, the servo-driver of rotary joint 1 is connected with the servomotor of rotary joint 1,
The servo-driver of rotary joint 2 is connected with the servomotor of rotary joint 2, the servo-driver of rotary joint 3 and rotation
The servomotor of joint 3 is connected.
3. the flapping articulation manipulator that a kind of sheet metal part according to claim 1 is carried, it is characterised in that the rotation
It is fixedly connected between the servomotor of joint 2 and the belt driver of rotary joint 2 by expansion sleeve.
4. the flapping articulation manipulator that a kind of sheet metal part according to claim 1 is carried, it is characterised in that the rotation
It is fixedly connected between the servomotor of joint 3 and the belt driver of rotary joint 3 by expansion sleeve.
5. the flapping articulation manipulator that a kind of sheet metal part according to claim 1 is carried, it is characterised in that the rotation
The reductor of joint 1, the reductor of rotary joint 2 and the reductor of rotary joint 3 are harmonic wave speed reducing machine.
6. the flapping articulation manipulator that a kind of sheet metal part according to claim 1 is carried, it is characterised in that the rotation
The belt driver of joint 3 is located at the inside of the swing arm of rotary joint 2.
7. the flapping articulation manipulator that a kind of sheet metal part according to claim 1 is carried, it is characterised in that the rotation
The servomotor of joint 1, the servomotor of rotary joint 2, the servomotor of rotary joint 3 are absolute value type servomotor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563714.2A CN107627294A (en) | 2016-07-18 | 2016-07-18 | The flapping articulation manipulator that a kind of sheet metal part is carried |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610563714.2A CN107627294A (en) | 2016-07-18 | 2016-07-18 | The flapping articulation manipulator that a kind of sheet metal part is carried |
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| CN107627294A true CN107627294A (en) | 2018-01-26 |
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| CN201610563714.2A Pending CN107627294A (en) | 2016-07-18 | 2016-07-18 | The flapping articulation manipulator that a kind of sheet metal part is carried |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109884918A (en) * | 2019-04-03 | 2019-06-14 | 桂林电子科技大学 | Experimental platform and control method of experimental platform |
| CN111230921A (en) * | 2020-03-04 | 2020-06-05 | 苏州海翌智能科技有限公司 | Direct-connected intelligent joint |
| CN115703196A (en) * | 2021-08-16 | 2023-02-17 | 宝山钢铁股份有限公司 | Online grinding device for surface nodules of perforating roller |
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| CN103753584A (en) * | 2014-01-03 | 2014-04-30 | 中达电通股份有限公司 | Mechanical arm control system |
| CN203712704U (en) * | 2014-02-24 | 2014-07-16 | 李胜多 | Mechanical hand |
| CN103978478A (en) * | 2014-04-28 | 2014-08-13 | 惠州市仨联自动化设备有限公司 | Multi-shaft horizontal joint intelligent robot |
| CN204220833U (en) * | 2014-09-18 | 2015-03-25 | 合肥金海康五金机械制造有限公司 | A kind of deep-draw pressing mold reclaimer robot |
| CN204576195U (en) * | 2015-03-31 | 2015-08-19 | 江苏和亿自动化科技有限公司 | A kind of servo-control system of polished section production equipment |
| CN104816296A (en) * | 2015-05-11 | 2015-08-05 | 东莞市顺如电子科技有限公司 | Rear motor mechanical arm and forming method |
| CN104858327A (en) * | 2015-05-14 | 2015-08-26 | 无锡艾度科技有限公司 | Novel mechanical hand |
| CN105014664A (en) * | 2015-08-26 | 2015-11-04 | 北京航空航天大学 | Light modular mechanical arm applicable to narrow space |
| CN205075055U (en) * | 2015-09-22 | 2016-03-09 | 深圳市同川科技有限公司 | Stamping mechanical arm |
| CN105500359A (en) * | 2016-03-02 | 2016-04-20 | 安徽华创智能装备有限公司 | Heavy-load SCARA (selective compliance assembly robot arm) transfer robot |
| CN105666486A (en) * | 2016-04-22 | 2016-06-15 | 广东凯宝机器人科技有限公司 | Multi-axis horizontal joint intelligent robot |
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| CN109884918A (en) * | 2019-04-03 | 2019-06-14 | 桂林电子科技大学 | Experimental platform and control method of experimental platform |
| CN111230921A (en) * | 2020-03-04 | 2020-06-05 | 苏州海翌智能科技有限公司 | Direct-connected intelligent joint |
| CN115703196A (en) * | 2021-08-16 | 2023-02-17 | 宝山钢铁股份有限公司 | Online grinding device for surface nodules of perforating roller |
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Application publication date: 20180126 |