CN107717952A - A kind of universal five axis robots device - Google Patents

A kind of universal five axis robots device Download PDF

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Publication number
CN107717952A
CN107717952A CN201711085160.0A CN201711085160A CN107717952A CN 107717952 A CN107717952 A CN 107717952A CN 201711085160 A CN201711085160 A CN 201711085160A CN 107717952 A CN107717952 A CN 107717952A
Authority
CN
China
Prior art keywords
material grasping
block
manipulator
frame
guide rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711085160.0A
Other languages
Chinese (zh)
Inventor
苏裕英
张冬阳
林杰鹏
陈锦超
李世信
陈玲
庄跃新
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MEIYANG PLASTIC HARDWARE PRODUCTS CO Ltd QUANZSHOU
Original Assignee
MEIYANG PLASTIC HARDWARE PRODUCTS CO Ltd QUANZSHOU
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MEIYANG PLASTIC HARDWARE PRODUCTS CO Ltd QUANZSHOU filed Critical MEIYANG PLASTIC HARDWARE PRODUCTS CO Ltd QUANZSHOU
Priority to CN201711085160.0A priority Critical patent/CN107717952A/en
Publication of CN107717952A publication Critical patent/CN107717952A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • B25J15/0253Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/06Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023Cartesian coordinate type
    • B25J9/026Gantry-type
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B29WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29CSHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C45/00Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
    • B29C45/17Component parts, details or accessories; Auxiliary operations
    • B29C45/40Removing or ejecting moulded articles
    • B29C45/42Removing or ejecting moulded articles using means movable from outside the mould between mould parts, e.g. robots

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)

Abstract

The present invention relates to a kind of universal five axis robots device, including frame, also include the first portal frame, second portal frame, first material grasping manipulator, second material grasping manipulator and the longitudinal driving mechanism for driving the first material grasping manipulator and the second material grasping manipulator to move longitudinally, first material grasping machinery is provided with the first left material grasping block and the first right material grasping block on hand, second material grasping machinery is provided with the second left material grasping block and the second right material grasping block on hand, also include being used for the first transversal driving mechanism for driving the first left material grasping block and the first right material grasping block relatively or moving opposite to each other, also include being used for the second transversal driving mechanism for driving the second left material grasping block and the second right material grasping block relative motion or moving opposite to each other.The present invention can adapt to the two-chamber or multi-cavity injection forming machine of different size, have the advantages of simple structure, stable.

Description

A kind of universal five axis robots device
Technical field
The present invention relates to a kind of universal five axis robots device.
Background technology
Traditional two-chamber or the axis robot of multi-cavity injection forming machine five generally comprises five axis robot main bodys, located at five axle machines Flexible arm body in tool hand main body, and two simultaneously torsions of the flexible arm body both sides in office in five axis robot main bodys Arm;The flexible arm body is connected by guided way with the five axis robots main body, and the flexible arm body includes two together The extension single-arm of step;But the structure of the telescopic arm of such manipulator is excessively inflexible, two extension single-arm can not be according to two-chamber Or the various models of multi-cavity injection forming machine, the position of die cavity and spacing, and the position of other mechanical arms being engaged enters Row adjustment, it is poor often to occur bad adaptability, matching in actual production process, picks and places that product operation is not accurate enough, and efficiency is low, Many obstructions are brought to actual production.
In consideration of it, inventor furthers investigate to above mentioned problem, there is this case generation then.
The content of the invention
Different types of machines, simple structure, stable universal five are can adapt to it is an object of the invention to provide a kind of Axis robot device.
In order to achieve the above object, technical scheme as present invention use:
A kind of universal five axis robots device, including frame, using the width of frame as longitudinal direction, the length side of frame To for transverse direction, in addition to can be arranged on along frame in frame with laterally adjusting the first portal frame, can laterally adjust ground along frame The second portal frame for being arranged in frame, the first material grasping manipulator that can be arranged on vertically moving in frame along frame, can The second material grasping manipulator being arranged on vertically moving in frame along frame and for driving the first material grasping manipulator and the The longitudinal driving mechanism that two material grasping manipulators move longitudinally, the first material grasping machinery are provided with the first left material grasping block and first right side on hand Material grasping block, the first left material grasping block and the first right material grasping block set up separately in the both sides of the first material grasping manipulator, and the second material grasping machinery is on hand Provided with the second left material grasping block and the second right material grasping block, the second left material grasping block and the second right material grasping block set up separately in the second material grasping manipulator Both sides, in addition to first for driving the first left material grasping block and the first right material grasping block relative or moving opposite to each other is laterally driven Mechanism, in addition to the second laterally drive for driving the second left material grasping block and the second right material grasping block relative motion or moving opposite to each other Motivation structure.
As a kind of preferred embodiment of the present invention, the frame is provided with the first erecting bed transversely set and the second peace Platform is filled, the first erecting bed is provided with the first guide rail, and the second erecting bed is provided with the second guide rail, the first guide rail and the second guide rail parallel Set, the first portal frame is slideably erected on the first guide rail and the second guide rail, and the second portal frame is slideably erected at the On one guide rail and the second guide rail, in addition to the first positioning screw being connected on the first portal frame and it is connected on the second portal frame The second positioning screw, the end of the first positioning screw supported on the first erecting bed or the second erecting bed, the second positioning spiral shell Support on the first erecting bed or the second erecting bed the end of nail.
As a kind of preferred embodiment of the present invention, the lower end of first portal frame corresponds to first guide rail and described the Two guide rails are respectively provided with the first sliding block, and each first sliding block is respectively slidably disposed in first guide rail and second guide rail On, the lower end of second portal frame corresponds to first guide rail and second guide rail is respectively provided with the second sliding block, and each second slides Block is respectively slidably disposed on first guide rail and second guide rail, and the lower end of first sliding block, which is provided with, to be used for pair The first guide groove that first sliding block is oriented to, the lower end of second sliding block, which is provided with, to be used to carry out second sliding block The second guide groove being oriented to.
As the present invention a kind of preferred embodiment, include the first locating piece being fixedly connected on first sliding block with The second locating piece being fixedly connected on second sliding block, the both sides of the first locating piece are respectively equipped with the first positioning tab, institute The first positioning screw is stated as two, is disposed in respectively on the first positioning tab, the both sides of the second locating piece are respectively equipped with second and determined Position lug, second adjusting screw are two, are disposed in respectively on the second positioning tab, first positioning screw and described Second positioning screw is vertically set.
As a kind of preferred embodiment of the present invention, first transversal driving mechanism includes being arranged on first materials-taking machine Motor, the turbine being arranged on the output shaft of motor and the worm screw coordinated with turbine of tool on hand, the output of worm screw and motor Axle is vertically arranged, and worm screw is axially displaceably arranged on the first material grasping machinery on hand, the first left material grasping block and described First right material grasping block is connected on worm screw.
As a kind of preferred embodiment of the present invention, the worm screw includes the first worm screw and the second worm screw, and first left side is grabbed Material block is connected on the first worm screw, and the second left material grasping block is connected on the second worm screw, and the first material grasping machinery is set on hand There are the first guide pin bushing and the second guide pin bushing, first worm screw is movably located in the first guide pin bushing, and second worm screw may move Ground is located in the second guide pin bushing, in addition to the first stop collar and the second stop collar, and the first stop collar is provided with the first gag lever post, the One end of one gag lever post is provided with the first limited block, and the other end is connected with the described first left material grasping block, and the second stop collar is provided with the Two gag lever posts, one end of the second gag lever post are provided with the second limited block, and the other end is connected with the first right material grasping block, first material grasping Manipulator has the first left installing arm, the first right installing arm and the connection for being arranged on the first left installing arm and the first right installing arm Bar, the motor are arranged between the first left installing arm and the first right installing arm.
As a kind of preferred embodiment of the present invention, the longitudinal driving mechanism includes motor, is rotatably arranged in Driving wheel in the frame, the driven pulley being rotatably arranged in the frame and it is set on driving wheel and driven pulley Belt, sliding support is provided with the frame, be equipped with sliding support can along the installing plate of sliding support longitudinal sliding motion, The first material grasping manipulator and the second material grasping manipulator are fixedly mounted on a mounting board, and installing plate is connected on belt.
As a kind of preferred embodiment of the present invention, first portal frame is provided with can be moved along short transverse first and slided Plate, first splicing manipulator are arranged on the first slide plate, in addition to moved for driving the first slide plate along short transverse First sled drive mechanism, second portal frame are provided with the second slide plate that can be moved along short transverse, second splicing Manipulator is arranged on the second slide plate, in addition to the second slide plate driving machine for driving the second slide plate to be moved along short transverse Structure.
As a kind of preferred embodiment of the present invention, first slide plate is provided with the first jointed shaft, set on the first jointed shaft There is the first centering block, one end of the first centering block is connected with first splicing manipulator, and the other end of the first centering block is connected with first Cylinder, the cylinder body of the first cylinder are fixed on first slide plate, and second slide plate is provided with the second jointed shaft, and second is be hinged Axle is provided with the second centering block, and one end of the second centering block is connected with second splicing manipulator, the other end connection of the second centering block There is the second cylinder, the cylinder body of the second cylinder is fixed on second slide plate.
As a kind of preferred embodiment of the present invention, it is provided with and the first material grasping manipulator corresponding first on the first portal frame Splicing manipulator, the second splicing manipulator corresponding with the second material grasping manipulator is provided with the second portal frame, described first is left Material grasping block, the first right material grasping block, the second left material grasping block and the second right material grasping block, first splicing manipulator And it is equipped with component suction nozzle in second splicing manipulator.
After technical scheme, the first left material grasping block and the first right material grasping block set up separately in the first material grasping manipulator Both sides, the second left material grasping block and the second right material grasping block set up separately in the both sides of the second material grasping manipulator, laterally driven by first Mechanism and the second transversal driving mechanism can adjust the spacing between the first right material grasping block and the second left material grasping block, can adjust Spacing between one left material grasping block and the second right material grasping block, the first right material grasping block and the second left material grasping block coordinate carry out material grasping or First left material grasping block and the second right material grasping block, which coordinate, carries out material grasping, in this way, the present invention can adapt to the two-chamber or more of different size Chamber injection moulding machine, there is the advantages of simple structure, stable.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the enlarged drawing at A in Fig. 1;
Fig. 3 is the structural representation of another angle of the present invention;
Fig. 4 is the enlarged drawing at B in Fig. 3;
Fig. 5 is the enlarged drawing at C in Fig. 1;
Fig. 6 is cross section structure diagram at the first worm screw in the present invention and the second worm screw;
Fig. 7 is cross section structure diagram at the first gag lever post in the present invention and the second gag lever post;
In figure:
10- frame 11- sliding supports
12- installing plate 13- motors
14- driving wheel 15- driven pulleys
16- belts the first erecting beds of 17-
171- the first guide rail the second erecting beds of 18-
20- the first portal frame the first splicing manipulators of 21-
211- the first sled drive mechanism the first slide plates of 212-
213- the first cylinder the first centering blocks of 214-
215- the first jointed shaft the first sliding blocks of 22-
23- the first locating piece the first positioning tabs of 231-
24- the first positioning screw the second portal frames of 30-
31- the second splicing manipulator 40- the first material grasping manipulators
The right material grasping blocks of the left material grasping block 42- first of 41- first
The first left installing arms of 43- component suction nozzles 44-
The right installing arm 46- connecting rods of 45- first
The second left material grasping blocks of 50- the second material grasping manipulators 51-
The right material grasping block 60- turbines of 52- second
61- the first worm screw the second worm screws of 62-
63- the first guide pin bushing the second guide pin bushings of 64-
65- the first gag lever post the first limited blocks of 651-
66- the second gag lever post the second limited blocks of 661-
67- the first stop collar the second stop collars of 68-
69- motors the first bar-shaped troughs of 70-
The bar-shaped troughs of 80- second
Embodiment
In order to which technical scheme is explained further, it is described in detail below in conjunction with the accompanying drawings.
Referring to figs. 1 to Fig. 7, a kind of universal five axis robots device, including frame 10, using the width of frame 10 as Longitudinal direction, the length direction of frame 10 is horizontal, in addition to the first dragon that can be arranged on laterally adjusting along frame 10 in frame 10 Door frame 20, the second portal frame 30 that can be arranged on along frame 10 in frame 10 with laterally adjusting, can vertically moving along frame 10 The first material grasping manipulator 40 that ground is arranged in frame 10, can be along frame 10 be arranged on vertically moving in frame 10 second Material grasping manipulator 50 and the longitudinal direction for driving the first material grasping manipulator 40 and the second material grasping manipulator 50 to move longitudinally are driven Motivation structure, the first portal frame 20 and the second portal frame 30 are vertically set.
In the present invention, the first material grasping manipulator 40 is provided with the first left 41 and first right material grasping block 42 of material grasping block, and first is left 41 and first right material grasping block 42 of material grasping block sets up separately in the both sides of the first material grasping manipulator 40, and the second material grasping manipulator 50 is provided with the Two left 51 and second right material grasping blocks 52 of material grasping block, the second left 51 and second right material grasping block 52 of material grasping block set up separately in the second material grasping machinery The both sides of hand 50, present invention additionally comprises for driving the first left 41 and first right material grasping block 42 of material grasping block relative or moving opposite to each other The first transversal driving mechanism, in addition to for driving the second left 51 and second right relative motion of material grasping block 52 of material grasping block or phase Unlucky the second dynamic transversal driving mechanism, the first transversal driving mechanism and the second transversal driving mechanism structure are identical.Preferably, exist First portal frame 20 be provided with 40 corresponding first splicing manipulator 21 of the first material grasping manipulator, set on the second portal frame 30 Have with 50 corresponding second splicing manipulator 31 of the second material grasping manipulator, pass through the first splicing manipulator 21 and the second splicing machinery Hand 31 accepts the material on the first material grasping manipulator 40 and the second material grasping manipulator 50 respectively.The five axis robot devices of the present invention Mess-tin mould can be coordinated, stretch into the mess-tin after crawl shaping in mess-tin mould.
As a kind of preferred embodiment of the present invention, the frame 10 is provided with the first erecting bed 17 for transversely setting and the Two erecting beds 18, the first erecting bed 17 are provided with the first guide rail 171, and the second erecting bed 18 (is hidden provided with the second guide rail in figure Gear, is not shown), the first guide rail 171 and the second guide rail parallel are set, and the first portal frame 20 is slideably erected at the first guide rail 171 and second on guide rail, and the second portal frame 30 is slideably erected on the first guide rail 171 and the second guide rail, and the present invention also wraps The first positioning screw 24 being connected on the first portal frame 20 and the second positioning screw being connected on the second portal frame 30 are included, the The end of one positioning screw 24 is supported on the first erecting bed 17 or the second erecting bed 18, and the end of the second positioning screw is supported On the first erecting bed 17 or the second erecting bed 18.
As a kind of preferred embodiment of the present invention, the lower end of first portal frame 20 corresponds to the He of the first guide rail 171 Second guide rail is respectively provided with the first sliding block 22, and each first sliding block 22 is respectively slidably disposed in the He of the first guide rail 171 On second guide rail, the lower end of second portal frame 30 corresponds to first guide rail 171 and second guide rail is respectively provided with Second sliding block, each second sliding block are respectively slidably disposed on first guide rail 171 and second guide rail, and described first The lower end of sliding block 22 is provided with the first guide groove for being used for being oriented to first sliding block 22, and the lower end of second sliding block is set There is the second guide groove for being oriented to second sliding block.Preferably, the first guide groove and the second guide groove, such as can Think dovetail groove so that the first sliding block 22 and the second sliding block are only capable of carrying out transverse shifting along the first guide rail 171 and the second guide rail, and Longitudinal direction and short transverse will not then move, so as to ensure the stability of the first portal frame 20 and the second portal frame 30.
As a kind of preferred embodiment of the present invention, in addition to the first locating piece being fixedly connected on first sliding block 22 23 and the second locating piece (being blocked in figure, be not shown) for being fixedly connected on second sliding block, the two of the first locating piece 23 Side is respectively equipped with the first positioning tab 231, and the first positioning tab 213 is horizontally disposed, and first positioning screw 24 is Two, it is disposed in respectively on the first positioning tab 231, the both sides of the second locating piece are respectively equipped with the second positioning tab, and described Two adjusting screws are two, are disposed in respectively on the second positioning tab, first positioning screw 24 and the second positioning spiral shell Nail is vertically set.The present invention is in locking, it is only necessary to holds out against the first positioning screw 24 and the second positioning screw the The positioning of the first portal frame 20 and the second portal frame 30 is realized on one erecting bed 17 and the second erecting bed 18.In the present invention, the One portal frame 20 is identical with the structure of the second portal frame 30, can be in the correspondence of the first portal frame 20 by taking the first portal frame 20 as an example The position of first guide rail 171 sets the first locating piece 23, can also be set in the position of corresponding second guide rail of the first portal frame 20 First locating piece 23, the first locating piece 23 can also be respectively provided with two at this.The first guide rail 171 is consolidated by screw in the present invention It is scheduled on the first erecting bed 17, the second guide rail is fixed by screws on the second erecting bed 18.
In the present invention, the first material grasping manipulator 40 is identical with the structure of the second material grasping manipulator 40, and first is laterally driven The structure of mechanism is identical with the structure of the second transversal driving mechanism, by taking the first transversal driving mechanism as an example, the first laterally driven machine Motor 69 that structure includes being arranged on the first material grasping manipulator 40, the turbine 60 that is arranged on the output shaft of motor 69 and The worm screw coordinated with turbine 60, the output shaft of motor 69 are horizontally disposed with, and worm screw and the output shaft of motor 69 are vertically arranged, and worm screw can It is axially movably arranged on the first material grasping manipulator 40, the first left material grasping block 41 and the first right material grasping block 42 It is connected on worm screw.
As a kind of preferred embodiment of the present invention, the worm screw includes the first worm screw 61 and the second worm screw 62, and described first Left material grasping block 41 is connected on the first worm screw 61, and the second left material grasping block 51 is connected on the second worm screw 62, and described first grabs Material manipulator 40 is provided with the first guide pin bushing 63 and the second guide pin bushing 64, and first worm screw 61 is movably located in the first guide pin bushing 63 In, second worm screw 62 is movably located in the second guide pin bushing 64, in addition to the first stop collar 67 and the second stop collar 68, First stop collar 67 is provided with the first gag lever post 65, and one end of the first gag lever post 65 is provided with the first limited block 651, the other end and institute State the first left material grasping block 41 to connect, the external diameter of the first limited block 651 is more than the aperture of the first stop collar 67, on the second stop collar 64 Provided with the second gag lever post 66, one end of the second gag lever post 66 is provided with the second limited block 661, and the other end connects with the first right material grasping block 42 Connect, the external diameter of the second limited block 661 is more than the aperture of the second stop collar 68.When in use, the rotating forward or anti-of motor 69 is passed through Turn, drive the first worm screw 61 and the second worm screw 62 to move axially repeatedly by turbine 60, realize the material grasping in shaping chamber, first The limited block 651 of gag lever post 65 and first can then limit the stroke of the first worm screw 61, the second gag lever post 65 and the second limited block 651 The stroke of the second worm screw 62 can then be limited.
In the present invention, the first material grasping manipulator 40 has the first left installing arm 44, the first right installing arm 45 and set The more connecting rods 46 in the first left 44 and first right installing arm 45 of installing arm are put, the motor 69 is arranged on the first left installing arm 44 and first between right installing arm 45, and the structure of the second material grasping manipulator 50 is identical with the structure of the first material grasping manipulator 40, adopts With this structure, the weight of the first material grasping manipulator 40 and the second material grasping manipulator 50 can be mitigated and can preferably be radiated, And facilitate the installation of motor 69.The the first material grasping manipulator 40 and the second material grasping manipulator 50 of the present invention fills as five axis robots The telescopic arm put.
As the present invention a kind of preferred embodiment, the longitudinal driving mechanism include motor 13, rotatably arranged with Driving wheel 14 in the frame 10, the driven pulley 15 being rotatably arranged in the frame 10 and it is set in driving wheel 14 with driven pulley 15 on belt 16, sliding support 11 is provided with the frame 10, being equipped with sliding support 11 can be along cunning The installing plate 12 of the dynamic longitudinal sliding motion of support 11, the first material grasping manipulator 40 and the second material grasping manipulator 50 are fixedly mounted On installing plate 12, installing plate 12 is connected on belt 16.Belt 16 is driven to move by motor 13, so as to drive installation Block 12 is vertically moving, and realizes the stretching motion of the first material grasping manipulator 40 and the second material grasping manipulator 50.
As a kind of preferred embodiment of the present invention, first portal frame 20 is provided with can be moved along short transverse first Slide plate 212, first splicing manipulator 21 are arranged on the first slide plate 212, in addition to for driving the first slide plate 212 along height The first sled drive mechanism 211 of direction movement is spent, second portal frame 30 is provided with can be moved along short transverse second Slide plate, second splicing manipulator 31 are arranged on the second slide plate, in addition to for driving the second slide plate to be moved along short transverse The second dynamic sled drive mechanism.
As a kind of preferred embodiment of the present invention, first slide plate 212 is provided with the first jointed shaft 215, and first is be hinged Axle 215 is horizontally disposed, and the first jointed shaft 215 is provided with the first centering block 214, one end of the first centering block 214 and described the One splicing manipulator 21 connects, and the other end of the first centering block 214 is connected with the first cylinder 213, and the first cylinder 213 is vertically Setting, the cylinder body of the first cylinder 213 is fixed on first slide plate 212, and second slide plate is provided with the second jointed shaft, the Two jointed shafts are provided with the second centering block, and one end of the second centering block is connected with second splicing manipulator 31, the second centering block it is another One end is connected with the second cylinder, and the cylinder body of the second cylinder is fixed on second slide plate.First is driven by the first cylinder 213 Centering block 214 is swung around the first jointed shaft 215 in certain angle, so as to drive the swing of the first splicing manipulator 21, first Splicing manipulator 21 swings certain angle (being rocked to heeling condition from vertical direction) and carries out discharging afterwards, using this structure, Drive the first splicing manipulator 21 and the second splicing manipulator 31 to move up and down by the first slide plate 212 and the second slide plate, be used for Accept from the material in the first material grasping manipulator 40 and the second material grasping manipulator 50, the is driven by the first cylinder and the second cylinder One splicing manipulator 21 and the second splicing manipulator 31, which are swung, carries out discharging, so that the stacking of material is better achieved.
As a kind of preferred embodiment of the present invention, the first left material grasping block 41, the first right material grasping block 42, described the Two left material grasping blocks 51 and the second right material grasping block 52, first splicing manipulator 21 and second splicing manipulator 31 On be equipped with component suction nozzle 43, the crawl and release of material are realized by component suction nozzle 43.
As a further improvement on the present invention, the both ends on installing plate 12 transversely are respectively equipped with the He of the first bar-shaped trough 70 Second bar-shaped trough 80, the first bar-shaped trough 70 and the second bar-shaped trough 80 open up along the transverse direction of mounting blocks 12, the first material grasping manipulator 40 are locked in a manner of adjustable in first bar-shaped trough 70, such as can be locked by bolt, and the second bar-shaped trough 80 is with can The mode of adjustment is locked in the second bar-shaped trough 80, such as can be locked by screw, the first bar-shaped trough 70 and the second bar-shaped trough 80 be multiple, and the first bar-shaped trough 70 and the second bar-shaped trough 80 are through to lower surface from the upper surface of installing plate 12.Using this Structure, the spacing between the first material grasping manipulator 40 and the second material grasping manipulator 50 can be adjusted, so that the present invention can It is applicable further types of forming machine.
The product form of the present invention is not limited to this case diagram and embodiment, and anyone carries out the appropriate of similar thinking to it Change or modification, it all should be regarded as not departing from the patent category of the present invention.

Claims (10)

1. a kind of universal five axis robots device, including frame, using the width of frame as longitudinal direction, the length direction of frame For transverse direction, it is characterised in that:Also include that the first portal frame in frame can be arranged on along frame with laterally adjusting, can be horizontal along frame To adjustment be arranged in frame the second portal frame, can be along frame the first materials-taking machine being arranged on vertically moving in frame Tool hand, the second material grasping manipulator that can be arranged on vertically moving in frame along frame and for drive the first material grasping machinery The longitudinal driving mechanism that hand and the second material grasping manipulator move longitudinally, the first material grasping machinery on hand be provided with the first left material grasping block and First right material grasping block, the first left material grasping block and the first right material grasping block set up separately in the both sides of the first material grasping manipulator, the second materials-taking machine Tool is provided with the second left material grasping block and the second right material grasping block on hand, and the second left material grasping block and the second right material grasping block set up separately in the second material grasping The both sides of manipulator, in addition to the first horizontal stroke for driving the first left material grasping block and the first right material grasping block relatively or moving opposite to each other To drive mechanism, in addition to second for driving the second left material grasping block and the second right material grasping block relative motion or moving opposite to each other Transversal driving mechanism.
A kind of 2. universal five axis robots device as claimed in claim 1, it is characterised in that:The frame is provided with along horizontal stroke To the first erecting bed and the second erecting bed of setting, the first erecting bed is provided with the first guide rail, and the second erecting bed is provided with second Guide rail, the first guide rail and the second guide rail parallel are set, and the first portal frame is slideably erected on the first guide rail and the second guide rail, Second portal frame is slideably erected on the first guide rail and the second guide rail, in addition to first be connected on the first portal frame is fixed Position screw and the second positioning screw for being connected on the second portal frame, the end of the first positioning screw support in the first erecting bed or On the erecting bed of person second, the end of the second positioning screw is supported on the first erecting bed or the second erecting bed.
A kind of 3. universal five axis robots device as claimed in claim 2, it is characterised in that:Under first portal frame Corresponding first guide rail in end and second guide rail are respectively provided with the first sliding block, and each first sliding block is respectively slidably disposed in institute State on the first guide rail and second guide rail, the lower end of second portal frame corresponds to first guide rail and second guide rail The second sliding block is respectively provided with, each second sliding block is respectively slidably disposed on first guide rail and second guide rail, described The lower end of first sliding block is provided with the first guide groove for being used for being oriented to first sliding block, and the lower end of second sliding block is set There is the second guide groove for being oriented to second sliding block.
A kind of 4. universal five axis robots device as claimed in claim 3, it is characterised in that:Also include being fixedly connected on institute The second locating piece stated the first locating piece on the first sliding block and be fixedly connected on second sliding block, the two of the first locating piece Side is respectively equipped with the first positioning tab, and first positioning screw is two, is disposed in respectively on the first positioning tab, and second is fixed The both sides of position block are respectively equipped with the second positioning tab, and second adjusting screw is two, is disposed in the second positioning tab respectively On, first positioning screw and second positioning screw are vertically set.
A kind of 5. universal five axis robots device as claimed in claim 1, it is characterised in that:The first laterally driven machine Structure includes being arranged on the first material grasping machinery motor on hand, the turbine being arranged on the output shaft of motor and matched somebody with somebody with turbine The output shaft of the worm screw of conjunction, worm screw and motor is vertically arranged, and worm screw is axially displaceably arranged on the first material grasping manipulator On, the first left material grasping block and the first right material grasping block are connected on worm screw.
A kind of 6. universal five axis robots device as claimed in claim 5, it is characterised in that:The worm screw includes the first snail Bar and the second worm screw, the first left material grasping block are connected on the first worm screw, and the second left material grasping block is connected to the second worm screw On, the first material grasping machinery is provided with the first guide pin bushing and the second guide pin bushing on hand, and first worm screw is movably located in first In guide pin bushing, second worm screw is movably located in the second guide pin bushing, in addition to the first stop collar and the second stop collar, and first Stop collar is provided with the first gag lever post, and one end of the first gag lever post is provided with the first limited block, the other end and the described first left material grasping Block connects, and the second stop collar is provided with the second gag lever post, and one end of the second gag lever post is provided with the second limited block, the other end and first Right material grasping block connection, the first material grasping manipulator have the first left installing arm, the first right installing arm and are arranged on first left side The connecting rod of installing arm and the first right installing arm, the motor are arranged between the first left installing arm and the first right installing arm.
A kind of 7. universal five axis robots device as claimed in claim 1, it is characterised in that:The longitudinal driving mechanism bag Include motor, the driving wheel being rotatably arranged in the frame, the driven pulley being rotatably arranged in the frame And driving wheel and the belt on driven pulley are set in, sliding support is provided with the frame, being equipped with sliding support can Along the installing plate of sliding support longitudinal sliding motion, the first material grasping manipulator and the second material grasping manipulator are fixedly mounted on peace In loading board, installing plate is connected on belt.
A kind of 8. universal five axis robots device as claimed in claim 1, it is characterised in that:Set on first portal frame There is the first slide plate that can be moved along short transverse, first splicing manipulator is arranged on the first slide plate, in addition to for driving The first sled drive mechanism that dynamic first slide plate moves along short transverse, second portal frame are provided with and can moved along short transverse The second dynamic slide plate, second splicing manipulator are arranged on the second slide plate, in addition to for driving the second slide plate along height Second sled drive mechanism of direction movement.
A kind of 9. universal five axis robots device as claimed in claim 8, it is characterised in that:First slide plate is provided with First jointed shaft, the first jointed shaft are provided with the first centering block, and one end of the first centering block is connected with first splicing manipulator, the The other end of one centering block is connected with the first cylinder, and the cylinder body of the first cylinder is fixed on first slide plate, second slide plate The second jointed shaft is provided with, the second jointed shaft is provided with the second centering block, one end of the second centering block and second splicing manipulator Connection, the other end of the second centering block are connected with the second cylinder, and the cylinder body of the second cylinder is fixed on second slide plate.
A kind of 10. universal five axis robots device as claimed in claim 1, it is characterised in that:Set on the first portal frame There is the first splicing manipulator corresponding with the first material grasping manipulator, be provided with the second portal frame corresponding with the second material grasping manipulator The second splicing manipulator, the first left material grasping block, the first right material grasping block, the second left material grasping block and described second Component suction nozzle is equipped with right material grasping block, first splicing manipulator and second splicing manipulator.
CN201711085160.0A 2017-11-07 2017-11-07 A kind of universal five axis robots device Pending CN107717952A (en)

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CN109455342A (en) * 2018-09-03 2019-03-12 常州市第三人民医院 A kind of automatic mounted box equipment of suction pipette head
CN109998686A (en) * 2019-04-25 2019-07-12 苏州点合医疗科技有限公司 Double gantry operating robots of bone surface coordinate mapping acquisition for joint replacement
CN110025380A (en) * 2019-04-11 2019-07-19 苏州点合医疗科技有限公司 One kind can the double gantry type mechanical arm operating robots of unmarshaling
CN110253604A (en) * 2019-05-15 2019-09-20 深圳市圆梦精密技术研究院 Magazine transfer device
WO2020207123A1 (en) * 2019-04-11 2020-10-15 苏州点合医疗科技有限公司 Detachable/collapsable double-gantry mechanical arm surgical robot
CN110025380B (en) * 2019-04-11 2024-06-04 苏州点合医疗科技有限公司 Detachable double-gantry mechanical arm surgical robot

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CN109455342A (en) * 2018-09-03 2019-03-12 常州市第三人民医院 A kind of automatic mounted box equipment of suction pipette head
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WO2020207123A1 (en) * 2019-04-11 2020-10-15 苏州点合医疗科技有限公司 Detachable/collapsable double-gantry mechanical arm surgical robot
CN110025380B (en) * 2019-04-11 2024-06-04 苏州点合医疗科技有限公司 Detachable double-gantry mechanical arm surgical robot
CN109998686A (en) * 2019-04-25 2019-07-12 苏州点合医疗科技有限公司 Double gantry operating robots of bone surface coordinate mapping acquisition for joint replacement
CN109998686B (en) * 2019-04-25 2024-01-30 苏州点合医疗科技有限公司 Double-gantry surgical robot for bone surface coordinate mapping acquisition for joint replacement
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CN110253604B (en) * 2019-05-15 2023-10-20 深圳市圆梦精密技术研究院 Material box transferring device

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