CN108145026B - Large three-dimensional manipulator - Google Patents
Large three-dimensional manipulator Download PDFInfo
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- CN108145026B CN108145026B CN201711472900.6A CN201711472900A CN108145026B CN 108145026 B CN108145026 B CN 108145026B CN 201711472900 A CN201711472900 A CN 201711472900A CN 108145026 B CN108145026 B CN 108145026B
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- 238000004080 punching Methods 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 claims description 25
- 238000000429 assembly Methods 0.000 claims description 25
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 description 14
- 230000006872 improvement Effects 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/10—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by grippers
- B21D43/105—Manipulators, i.e. mechanical arms carrying a gripper element having several degrees of freedom
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a large three-dimensional manipulator which comprises a first bearing beam, a second bearing beam, a main driving system, an auxiliary driving system and two driving arms, wherein the first bearing beam and the second bearing beam are transversely arranged on punching equipment side by side; the large three-dimensional manipulator is high in automation degree and capable of transferring workpieces with high precision and high efficiency.
Description
Technical Field
The invention relates to the technical field of manipulators, and particularly provides a large three-dimensional manipulator.
Background
The manipulator is an automatic operation device which can simulate some action functions of hands and arms and is used for grabbing and carrying objects or operating tools according to fixed procedures. It can replace heavy labor to realize mechanization and automation of production, and can operate in harmful environment to protect personal safety, so it can be widely used in the departments of mechanical manufacture, metallurgy, electronics, light industry and atomic energy.
At present, in the stamping manufacturing process, the single-stamping bed sheet process is mainly used for production, so that the problems of low productivity, unstable quality, high rejection rate and insufficient industrial efficiency are caused, and the stamping manufacturing process also has a certain danger, and the development trend of automatic production can not be met. In addition, the existing manipulator has the defects of simple or complex structure and imperfect functions, cannot well realize high-precision transfer of processed workpieces, has the problems of low production capacity, unstable quality and high rejection rate, and has seriously affected the development of automatic and unmanned production in the processing process.
In view of this, the present invention has been made.
Disclosure of Invention
In order to overcome the defects, the invention provides a large three-dimensional manipulator which has the advantages of simple and compact structure, high degree of automation, perfect functions and high precision and efficiency in transferring workpieces.
The technical scheme adopted by the invention for solving the technical problems is as follows: the large three-dimensional manipulator comprises a first bearing beam, a second bearing beam, a main driving system, an auxiliary driving system and two driving arms respectively used for hanging clamping jaws, wherein the first bearing beam and the second bearing beam are of strip plate-shaped structures, and the first bearing beam and the second bearing beam are also transversely arranged on punching equipment in a side-by-side positioning mode; the main driving system is provided with two moving plates A, two lifting seats A, two moving pipes A and a main driving unit, wherein the two moving plates A are respectively and slidably connected to the first bearing cross beam and can respectively and reciprocally move and position along the length direction of the first bearing cross beam under the driving of the main driving unit, the two lifting seats A are respectively and correspondingly arranged on the two moving plates A and can respectively and reciprocally move and position up and down under the driving of the main driving unit, the two moving pipes A are transversely arranged side by side and respectively and correspondingly arranged on the bottom sides of the two lifting seats A, and the two moving pipes A can respectively and reciprocally move and position along the direction perpendicular to the length direction of the first bearing cross beam under the driving of the main driving unit;
The auxiliary driving system is provided with two moving plates B, two lifting seats B, two moving pipes B and an auxiliary power driving unit, wherein the two moving plates B are respectively and slidably connected to the second bearing cross beam and can be respectively and reciprocally moved and positioned along the length direction of the second bearing cross beam under the driving of the auxiliary power driving unit, the two lifting seats B are respectively and correspondingly arranged on the two moving plates B, the two lifting seats B can be respectively and reciprocally moved and positioned up and down under the driving of the auxiliary power driving unit, the two moving pipes B are transversely arranged side by side and are respectively and movably arranged on the bottom sides of the two lifting seats B in a one-to-one correspondence with the two moving pipes A; the two driving arms are respectively of a strip-shaped structure extending along the direction perpendicular to the length direction of the first bearing cross beam, and two sides of each driving arm in the length direction are respectively connected with the corresponding moving pipe A and the corresponding moving pipe B in a positioning mode.
As a further improvement of the invention, the motion of the two moving plates a corresponds to synchronization with the motion of the two moving plates B;
the motion of the two lifting seats A is correspondingly synchronous with the motion of the two lifting seats B;
The motion of the two moving pipes a corresponds to synchronization with the motion of the two moving pipes B.
As a further improvement of the present invention, the length direction of the first load beam is defined as the Y-axis direction, correspondingly, the up-down direction is defined as the Z-axis direction, and the direction perpendicular to the length direction of the first load beam is defined as the X-axis direction;
The first bearing cross beam is positioned and laid on one side elevation along the X-axis direction, a first sliding rail extending along the Y-axis direction is arranged on the first bearing cross beam, the two moving plates A are respectively and slidably connected to the first sliding rail, and the two moving plates A can be respectively and reciprocally moved and positioned along the Y-axis direction under the drive of the main power driving unit, and the concrete realization structure is as follows: the main power driving unit comprises two groups of first Y-axis driving components, each group of first Y-axis driving components is provided with a first servo motor, a first gear and a first rack, wherein the two first servo motors are respectively and correspondingly positioned and installed on the two moving plates A, the two first gears are respectively and correspondingly positioned and sleeved on power output shafts of the two first servo motors, the two first racks extend along the Y-axis direction and are respectively and positionally installed on one side elevation of the first bearing beam, and meanwhile, the two first racks are respectively close to two sides of the first bearing beam along the Y-axis direction, and the two first racks are respectively and correspondingly meshed and connected with the two first gears;
The two lifting seats A are respectively provided with a second sliding rail extending along the Z-axis direction in a positioning way, and also are respectively provided with a first sliding block which is matched and connected with the second sliding rail in a sliding way in a positioning way, and the two lifting seats A are respectively connected with the two moving plates A in a corresponding sliding way by virtue of the second sliding rail; and the two lifting seats A can be driven by the main power driving unit to reciprocate along the Z-axis direction for positioning, and the specific implementation structure is as follows: the main power driving unit further comprises two groups of first Z-axis driving assemblies, each group of first Z-axis driving assemblies is provided with a second servo motor, a second gear and a second rack, wherein the two second servo motors are respectively and correspondingly positioned and installed on the upper parts of the two lifting seats A, the two second gears are respectively and correspondingly positioned and sleeved on power output shafts of the two second servo motors, the two second racks extend along the Z-axis direction and are respectively and correspondingly positioned and installed on the two moving plates A, and meanwhile, the two second racks are respectively and correspondingly meshed and connected with the two second gears;
The two moving pipes A are long square pipes extending along the X-axis direction, third sliding rails extending along the X-axis direction are respectively laid on the upper sides of the two moving pipes A in a positioning mode, and the bottom sides of the two lifting seats A are respectively connected to the two third sliding rails in a corresponding sliding mode; in addition, the two moving tubes A can be driven by the main power driving unit to move reciprocally and position along the X-axis direction, and the specific implementation structure is as follows: the main power driving unit further comprises two groups of X-axis driving assemblies, each group of X-axis driving assemblies is provided with a third servo motor, a third gear and a third rack, wherein the two third servo motors are respectively and correspondingly positioned and installed on the bottoms of the two lifting seats A, the two third gears are respectively and correspondingly positioned and sleeved on power output shafts of the two third servo motors, the two third racks extend along the X-axis direction and are respectively and correspondingly positioned and installed on the two moving pipes A, and meanwhile, the two third racks are respectively and correspondingly meshed and connected with the two third gears.
As a further improvement of the invention, each group of the first Z-axis driving assembly is also provided with a first lifting cylinder, the two first lifting cylinders are respectively and correspondingly positioned and installed on the two moving plates A, the piston rods of the two first lifting cylinders point downwards, and the piston rods of the two first lifting cylinders are respectively and correspondingly connected with the two lifting seats A in a positioning way.
As a further improvement of the invention, each lifting seat a is provided with a vertical upright post a and a sliding seat a which is fixedly connected to the bottom side of the vertical upright post a, wherein the second sliding rail and the second servo motor are respectively and fixedly arranged on each vertical upright post a, and the third servo motor and a second sliding block which is matched and slidingly connected with the third sliding rail are respectively and fixedly arranged on each sliding seat a.
As a further improvement of the invention, a fourth sliding rail extending along the Y-axis direction is laid on one side elevation of the second bearing beam along the X-axis direction, two moving plates B are respectively and slidably connected to the fourth sliding rail, and the two moving plates B can be respectively driven by the auxiliary power driving unit to reciprocate along the Y-axis direction for positioning, and the concrete implementation structure is as follows: the auxiliary power driving unit comprises two groups of second Y-axis driving components, each group of second Y-axis driving components is provided with a fourth servo motor, a fourth gear and a fourth rack, wherein the two fourth servo motors are respectively and correspondingly positioned and installed on the two moving plates B, the two fourth gears are respectively and correspondingly positioned and sleeved on power output shafts of the two fourth servo motors, the two fourth racks extend along the Y-axis direction and are respectively positioned and installed on one side elevation of the second bearing beam, meanwhile, the two fourth racks are respectively close to two sides of the second bearing beam along the Y-axis direction, and the two fourth racks are respectively and correspondingly meshed and connected with the two fourth gears;
A fifth sliding rail extending along the Z-axis direction is respectively positioned and installed on the two lifting seats B, a third sliding block matched and connected with the fifth sliding rail in a sliding manner is respectively positioned and installed on the two moving plates B, and the two lifting seats B are respectively correspondingly and slidably connected with the two moving plates B by virtue of the fifth sliding rail thereon; and two lifting seats B can also respectively carry out reciprocating movement and positioning along the Z-axis direction under the drive of the auxiliary power driving unit, and the specific implementation structure is as follows: the auxiliary power driving unit comprises two groups of second Z-axis driving assemblies, each group of second Z-axis driving assemblies is provided with a fifth servo motor, a fifth gear and a fifth rack, wherein the two fifth servo motors are respectively and correspondingly positioned and installed on the upper parts of the two lifting seats B, the two fifth gears are respectively and correspondingly positioned and sleeved on power output shafts of the two fifth servo motors, the two fifth racks extend along the Z-axis direction and are respectively and correspondingly positioned and installed on the two movable plates B, and meanwhile, the two fifth racks are respectively and correspondingly meshed and connected with the two fifth gears;
The two moving pipes B are rectangular square pipes extending along the X-axis direction, sixth sliding rails extending along the X-axis direction are respectively laid on the upper sides of the two moving pipes B in a positioning mode, and the bottom sides of the two lifting seats B are respectively connected to the two sixth sliding rails in a corresponding sliding mode.
As a further improvement of the invention, each group of second Z-axis driving assembly is also provided with a second lifting cylinder, the two second lifting cylinders are respectively and correspondingly positioned and installed on the two moving plates B, the piston rods of the two second lifting cylinders point downwards, and the piston rods of the two second lifting cylinders are respectively and correspondingly positioned and connected with the two lifting seats B.
As a further improvement of the invention, each lifting seat B is provided with a vertical upright post B and a sliding seat B which is fixedly connected to the bottom side of the vertical upright post B, wherein the fifth sliding rail and the fifth servo motor are respectively and fixedly arranged on each vertical upright post B, and the fourth sliding block which is matched and slidingly connected with the sixth sliding rail is respectively and fixedly arranged on each sliding seat B.
As a further improvement of the invention, the motion of the two groups of first Y-axis driving components is synchronous with the motion of the two groups of second Y-axis driving components correspondingly;
The motion of the two groups of first Z-axis driving components is correspondingly synchronous with the motion of the two groups of second Z-axis driving components.
The beneficial effects of the invention are as follows: ① The large three-dimensional manipulator has the advantages of simple and compact structure, high automation degree, perfect functions, high precision and high efficiency in transferring workpieces, improving the production efficiency, improving the product quality and saving the production cost. ② According to the actions of the main driving system and the auxiliary driving system, the large three-dimensional manipulator has a retraction state and an extension state, the occupied area of the large three-dimensional manipulator is small in the retraction state, and the large three-dimensional manipulator has a very large working area in the extension state, so that the production requirement is well met.
Drawings
Fig. 1 is a schematic perspective view of a large three-dimensional manipulator according to the present invention at a first view angle;
Fig. 2 is a schematic perspective view of the large three-dimensional manipulator according to the present invention at a second view angle;
FIG. 3 is an enlarged schematic view of the main drive system of FIG. 1 mounted to a first load beam;
FIG. 4 is a schematic view of the moving plate A and the first Y-axis driving assembly shown in FIG. 3 assembled together;
FIG. 5 is a schematic view of the elevating seat A and the first Z-axis drive assembly shown in FIG. 3 assembled together and in a first view angle;
FIG. 6 is a schematic view of the elevating seat A and the first Z-axis drive assembly shown in FIG. 3 assembled together and in a second view;
FIG. 7 is a schematic view of the moving tube A of FIG. 3 and a first X-axis drive assembly assembled together;
FIG. 8 is an enlarged schematic view of the secondary drive system of FIG. 1 mounted to a second load beam;
fig. 9 is an enlarged schematic view of the secondary drive system of fig. 2 mounted to a second load beam.
The following description is made with reference to the accompanying drawings:
1-first bearing beam 2-second bearing beam
3-Main drive System 30-moving plate A
31-Lifting seat A310-vertical column A
311-Sliding seat A32-moving tube A
33-First slide rail 340-first servo motor
341-First gear 342-first rack
343-Second servomotor 344-second gear
345-Second rack 346-third servo motor
347-Third gear 348-third rack
349-First lifting cylinder 35-second slide rail
36-Third slide rail 4-auxiliary driving system
40-Moving plate B41-lifting seat B
410-Vertical column B411-sliding seat B
42-Moving tube B430-fourth servomotor
431-Fifth servomotor 5-drive arm
Detailed Description
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1:
Fig. 1 and fig. 2 are schematic perspective views of a large three-dimensional manipulator according to the present invention at two different viewing angles. The large three-dimensional manipulator comprises a first bearing beam 1, a second bearing beam 2, a main driving system 3, an auxiliary driving system 4 and two driving arms 5 respectively used for hanging clamping jaws, wherein the first bearing beam 1 and the second bearing beam 2 are of strip plate-shaped structures, and the first bearing beam 1 and the second bearing beam 2 are also transversely arranged on punching equipment in a side-by-side positioning mode; the main driving system 3 has two moving plates a30, two lifting seats a31, two moving pipes a32, and a main driving unit, as shown in fig. 3, where the two moving plates a30 are respectively slidably connected to the first carrier beam 1, and are respectively capable of performing reciprocating movement positioning along the length direction of the first carrier beam 1 under the driving of the main driving unit, the two lifting seats a31 are respectively and correspondingly mounted on the two moving plates a30, and the two lifting seats a31 are respectively capable of performing up-down reciprocating movement positioning under the driving of the main driving unit, the two moving pipes a32 are arranged side by side in a transverse direction, and are respectively and correspondingly mounted on the bottom sides of the two lifting seats a31, and the two moving pipes a32 are respectively capable of performing reciprocating movement positioning along a direction perpendicular to the length direction of the first carrier beam 1 under the driving of the main driving unit;
The auxiliary driving system 4 has two moving plates B40, two lifting seats B41, two moving pipes B42, and an auxiliary power driving unit, as shown in fig. 8 and fig. 9, where the two moving plates B40 are respectively slidably connected to the second bearing beam 2, and are also respectively capable of performing reciprocating movement and positioning along the length direction of the second bearing beam 2 under the driving of the auxiliary power driving unit, the two lifting seats B41 are respectively and correspondingly mounted on the two moving plates B40, and the two lifting seats B41 are respectively capable of performing up-down reciprocating movement and positioning under the driving of the auxiliary power driving unit, the two moving pipes B42 are arranged side by side in a transverse direction, and are respectively and movably mounted on the bottom sides of the two lifting seats B41, and the two moving pipes B42 are respectively and one-to-one corresponding to the two moving pipes a 32; the two driving arms 5 are respectively of a strip-shaped structure extending along the direction perpendicular to the length direction of the first bearing beam 1, and two sides of the length direction of each driving arm 5 are respectively connected with the corresponding moving tube A32 and the corresponding moving tube B42 in a positioning way.
In the present embodiment, it is preferable that the movement of the two moving plates a30 corresponds to synchronization with the movement of the two moving plates B40; the motion of the two lifting seats A31 is correspondingly synchronous with the motion of the two lifting seats B41; the motion of the two moving pipes a32 corresponds to synchronization with the motion of the two moving pipes B42.
In this embodiment, it is preferable that the length direction of the first load beam 1 is defined as a Y-axis direction, and correspondingly, the up-down direction is defined as a Z-axis direction, and the direction perpendicular to the length direction of the first load beam 1 is defined as an X-axis direction; referring to fig. 3 and fig. 4, a first sliding rail 33 extending along the Y-axis direction is laid on a side elevation of the first bearing beam 1 along the X-axis direction, two moving plates a30 are respectively slidably connected to the first sliding rail 33, and the two moving plates a30 can also be respectively driven by the main power driving unit to perform reciprocating movement positioning along the Y-axis direction, so that the specific implementation structure is as follows: the main driving unit includes two groups of first Y-axis driving assemblies, each group of first Y-axis driving assemblies has a first servo motor 340, a first gear 341 and a first rack 342, wherein the two first servo motors 340 are respectively and correspondingly positioned and mounted on the two moving plates a30, the two first gears 341 are respectively and correspondingly positioned and sleeved on power output shafts of the two first servo motors 340, the two first racks 342 extend along the Y-axis direction and are respectively and positionally mounted on one side vertical surface of the first carrier beam 1, and meanwhile, the two first racks 342 are respectively close to two sides of the first carrier beam 1 along the Y-axis direction, and the two first racks 342 are respectively and correspondingly meshed with the two first gears 341. In addition, for the above-mentioned "the two first gears 341 are respectively and correspondingly positioned and sleeved on the power output shafts of the two first servomotors 340", it may be further preferable that: the power output shaft of the first servo motor 340 is in positioning connection with the first gear 341 through a speed reducer, or the first servo motor 340 is directly a speed reducer motor.
As shown in fig. 3, 5 and 6, a second sliding rail 35 extending along the Z-axis direction is respectively positioned and installed on each of the two lifting seats a31, a first sliding block matched and slidingly connected with the second sliding rail 35 is respectively positioned and installed on each of the two moving plates a30, and each of the two lifting seats a31 is correspondingly slidingly connected with the two moving plates a30 by the second sliding rail 35 thereon; and two lifting seats A31 can also respectively reciprocate along the Z-axis direction under the drive of the main power driving unit, and the specific implementation structure is as follows: the main driving unit further includes two groups of first Z-axis driving assemblies, each group of first Z-axis driving assemblies has a second servo motor 343, a second gear 344 and a second rack 345, wherein the two second servo motors 343 are respectively and correspondingly positioned and mounted on the upper portions of the two lifting seats a31, the two second gears 344 are respectively and correspondingly positioned and sleeved on the power output shafts of the two second servo motors 343, the two second racks 345 extend along the Z-axis direction, and are respectively and correspondingly positioned and mounted on the two moving plates a30, and simultaneously the two second racks 345 are respectively and correspondingly meshed and connected with the two second gears 344. In addition, for the above-mentioned "the two second gears 344 are respectively and correspondingly positioned and sleeved on the power output shafts of the two second servomotors 343", it is further preferable that: the power output shaft of the second servo motor 343 is positionally coupled to the second gear 344 via a speed reducer.
As shown in fig. 3 and fig. 7, the two moving pipes a32 are elongated square pipes extending along the X-axis direction, and third sliding rails 36 extending along the X-axis direction are respectively positioned and laid on the upper sides of the two moving pipes a32, and the bottom sides of the two lifting seats a31 are respectively and correspondingly connected to the two third sliding rails 36 in a sliding manner; in addition, the two moving tubes a32 can be driven by the main power driving unit to move reciprocally along the X-axis direction, and the specific implementation structure is as follows: the main power driving unit further includes two sets of X-axis driving assemblies, each set of X-axis driving assemblies has a third servo motor 346, a third gear 347 and a third rack 348, wherein the two third servo motors 346 are respectively and correspondingly positioned and installed on the bottoms of the two lifting seats a31, the two third gears 347 are respectively and correspondingly positioned and sleeved on power output shafts of the two third servo motors 346, the two third racks 348 extend along the X-axis direction and are respectively and correspondingly positioned and installed on the two moving pipes a32, and simultaneously the two third racks 348 are respectively and correspondingly meshed and connected with the two third gears 347. In addition, as for the above-described "the two third gears 347 are respectively positioned and sleeved on the power output shafts of the two third servomotors 346", it is further preferable that: the power output shaft of the third servomotor 346 is positionally coupled to a third gear wheel 347 via a speed reducer.
In this embodiment, it is further preferred that each group of the first Z-axis driving assemblies further has a first lifting cylinder 349 (see fig. 3 and 6), the two first lifting cylinders 349 are respectively positioned and installed on the two moving plates a30, the piston rods of the two first lifting cylinders 349 point downward, and the piston rods of the two first lifting cylinders 349 are respectively connected with the two lifting seats a31 in a positioning manner; when the lifting seat A31 moves up and down, the first lifting cylinder plays a role of auxiliary thrust.
Further preferably, each lifting seat a31 has a vertical column a310 and a sliding seat a311 (see fig. 5 and 7) fixedly connected to the bottom side of the vertical column a310, wherein the second slide rail 35 and the second servo motor 343 are respectively positioned and mounted on each vertical column a310, and the third servo motor 346 and the second slide block matched and slidingly connected with the third slide rail 36 are respectively positioned and mounted on each sliding seat a 311.
In this embodiment, preferably, as shown in fig. 8 and fig. 9, a fourth slide rail (the same structure as the first slide rail 33) extending along the Y-axis direction is laid on a side elevation of the second bearing beam 2 along the X-axis direction, two moving plates B40 are respectively slidably connected to the fourth slide rail, and the two moving plates B40 can be respectively driven by the auxiliary power driving unit to perform reciprocating movement and positioning along the Y-axis direction, so that the specific implementation structure is as follows: the auxiliary power driving unit comprises two groups of second Y-axis driving components, each group of second Y-axis driving components is provided with a fourth servo motor 430, a fourth gear and a fourth rack, wherein the two fourth servo motors 430 are respectively and correspondingly positioned and installed on the two moving plates B40, the two fourth gears are respectively and correspondingly positioned and sleeved on power output shafts of the two fourth servo motors 430, the two fourth racks extend along the Y-axis direction and are respectively positioned and installed on one side vertical surface of the second bearing beam 2, meanwhile, the two fourth racks are respectively close to two sides of the second bearing beam 2 along the Y-axis direction, and the two fourth racks are respectively and correspondingly meshed and connected with the two fourth gears, namely, the structure of the second Y-axis driving component is the same as that of the first Y-axis driving component;
A fifth sliding rail (the same structure as the second sliding rail 35) extending along the Z-axis direction is respectively positioned and installed on the two lifting seats B41, a third sliding block matched and connected with the fifth sliding rail is respectively positioned and installed on the two moving plates B40, and the two lifting seats B41 are respectively correspondingly and slidably connected with the two moving plates B40 by virtue of the fifth sliding rail thereon; and two lifting seats B41 can also respectively reciprocate along the Z-axis direction under the drive of the auxiliary power driving unit, and the specific implementation structure is as follows: the auxiliary power driving unit comprises two groups of second Z-axis driving components, each group of second Z-axis driving components is provided with a fifth servo motor 431, a fifth gear and a fifth rack, wherein the two fifth servo motors 431 are respectively and correspondingly positioned and installed on the upper parts of the two lifting seats B41, the two fifth gears are respectively and correspondingly positioned and sleeved on power output shafts of the two fifth servo motors 431, the two fifth racks extend along the Z-axis direction and are respectively and correspondingly positioned and installed on the two moving plates B40, and meanwhile, the two fifth racks are respectively and correspondingly meshed and connected with the two fifth gears, namely, the structure of the second Z-axis driving component is the same as that of the first Z-axis driving component;
The two moving pipes B42 are elongated square pipes extending along the X-axis direction, sixth sliding rails extending along the X-axis direction are respectively laid on the upper sides of the two moving pipes B42, and the bottom sides of the two lifting seats B41 are respectively and correspondingly connected to the two sixth sliding rails in a sliding manner, that is, each moving pipe a32 drives the moving pipes B42 to synchronously move through a driving arm 5.
In addition, for the above-mentioned technical solution that the two fourth gears are respectively correspondingly positioned and sleeved on the power output shafts of the two fourth servomotors 430, it may be further preferable that: the power output shaft of the fourth servomotor 430 is positionally coupled to the fourth gear through a speed reducer. For the above-mentioned technical solution that the two fifth gears are respectively sleeved on the power output shafts of the two fifth servomotors 431 in a corresponding positioning manner, it may further be preferable that: the power output shaft of the fifth servo motor 431 is connected with the fifth gear in a positioning way through a speed reducer.
In this embodiment, it is further preferable that each group of the second Z-axis driving assemblies further has a second lifting cylinder, the two second lifting cylinders are respectively and correspondingly positioned and mounted on the two moving plates B40, the piston rods of the two second lifting cylinders are directed downward, and the piston rods of the two second lifting cylinders are also respectively and correspondingly positioned and connected with the two lifting seats B41. The second lifting cylinder plays a role of auxiliary thrust when the lifting seat B41 moves up and down.
In this embodiment, as shown in fig. 8 and 9, each lifting seat B41 has a vertical column B410 and a sliding seat B411 fixedly connected to the bottom side of the vertical column B410, wherein the fifth sliding rail and the fifth servo motor 431 are respectively positioned and installed on each vertical column B410, and a fourth sliding block matched and slidingly connected with the sixth sliding rail is respectively positioned and installed on each sliding seat B411.
In this embodiment, it is further preferable that the movements of the two sets of the first Y-axis driving assemblies are synchronized with the movements of the two sets of the second Y-axis driving assemblies correspondingly; the motion of the two groups of first Z-axis driving components is correspondingly synchronous with the motion of the two groups of second Z-axis driving components.
In summary, compared with the prior art, the large three-dimensional manipulator has the advantages of simple and compact structure, high automation degree, perfect functions, high precision and high efficiency in transferring workpieces, improving the production efficiency, improving the product quality and saving the production cost. In addition, according to the action of the main driving system and the auxiliary driving system, the large three-dimensional manipulator has a retraction state and an extension state, and when the large three-dimensional manipulator is in the retraction state, the occupied area of the large three-dimensional manipulator is small, and when the large three-dimensional manipulator is in the extension state, the large three-dimensional manipulator has a very large working area, so that the production requirement is well met.
The above embodiments are merely illustrative of the efficacy of the invention, and not intended to limit it, but it should be pointed out that it will be obvious to those skilled in the art that various modifications and variations can be made without departing from the technical principles of the invention, and these modifications and variations shall be regarded as being within the scope of the invention.
Claims (6)
1. A large-scale cubic unit manipulator, its characterized in that: the device comprises a first bearing beam (1), a second bearing beam (2), a main driving system (3), an auxiliary driving system (4) and two driving arms (5) respectively used for hanging clamping jaws, wherein the first bearing beam (1) and the second bearing beam (2) are of strip plate-shaped structures, and the first bearing beam (1) and the second bearing beam (2) are also transversely arranged side by side in a positioning manner and are arranged on punching equipment; the main driving system (3) is provided with two moving plates A (30), two lifting seats A (31), two moving pipes A (32) and a main driving unit, the two moving plates A (30) are respectively and slidably connected to the first bearing cross beam (1), and can respectively and reciprocally move and position along the length direction of the first bearing cross beam (1) under the driving of the main driving unit, the two lifting seats A (31) are respectively and correspondingly arranged on the two moving plates A (30), the two lifting seats A (31) can respectively and reciprocally move and position up and down under the driving of the main driving unit, the two moving pipes A (32) are transversely arranged side by side and respectively and correspondingly arranged on the bottom sides of the two lifting seats A (31), and the two moving pipes A (32) can respectively and reciprocally move and position along the length direction perpendicular to the first bearing cross beam (1) under the driving of the main driving unit;
The auxiliary driving system (4) is provided with two moving plates B (40), two lifting seats B (41), two moving pipes B (42) and an auxiliary power driving unit, the two moving plates B (40) are respectively and slidably connected to the second bearing cross beam (2), and can respectively and reciprocally move and position along the length direction of the second bearing cross beam (2) under the driving of the auxiliary power driving unit, the two lifting seats B (41) are respectively and correspondingly arranged on the two moving plates B (40), the two lifting seats B (41) can respectively and reciprocally move and position up and down under the driving of the auxiliary power driving unit, the two moving pipes B (42) are transversely arranged side by side and are respectively and movably arranged on the bottom sides of the two lifting seats B (41), and the two moving pipes B (42) are respectively and reciprocally arranged with the two moving pipes A (32); the two driving arms (5) are respectively of a strip-shaped structure extending along the direction perpendicular to the length direction of the first bearing cross beam (1), and two sides of the length direction of each driving arm (5) are respectively connected with the corresponding moving pipe A (32) and the corresponding moving pipe B (42) in a positioning way;
The motion of the two moving plates A (30) is correspondingly synchronous with the motion of the two moving plates B (40);
the motion of the two lifting seats A (31) is correspondingly synchronous with the motion of the two lifting seats B (41);
the motion of the two moving pipes A (32) is correspondingly synchronous with the motion of the two moving pipes B (42);
Defining the length direction of the first bearing beam (1) as a Y-axis direction, correspondingly, defining the up-down direction as a Z-axis direction, and defining the direction perpendicular to the length direction of the first bearing beam (1) as an X-axis direction;
A first sliding rail (33) extending along the Y-axis direction is laid on one side elevation of the first bearing beam (1) along the X-axis direction, the two moving plates A (30) are respectively and slidably connected to the first sliding rail (33), and the two moving plates A (30) can be respectively and reciprocally moved and positioned along the Y-axis direction under the drive of the main power driving unit, and the concrete realization structure is as follows: the main power driving unit comprises two groups of first Y-axis driving components, each group of first Y-axis driving components is provided with a first servo motor (340), a first gear (341) and a first rack (342), wherein the two first servo motors (340) are respectively and correspondingly positioned and installed on the two moving plates A (30), the two first gears (341) are respectively and correspondingly positioned and sleeved on power output shafts of the two first servo motors (340), the two first racks (342) extend along the Y-axis direction and are respectively and fixedly installed on one side vertical surface of the first bearing cross beam (1), and meanwhile, the two first racks (342) are respectively and closely positioned on two sides of the first bearing cross beam (1) along the Y-axis direction, and the two first racks (342) are respectively and correspondingly meshed and connected with the two first gears (341);
A second sliding rail (35) extending along the Z-axis direction is respectively positioned and installed on the two lifting seats A (31), a first sliding block matched and connected with the second sliding rail (35) in a sliding manner is respectively positioned and installed on the two moving plates A (30), and the two lifting seats A (31) are respectively correspondingly connected with the two moving plates A (30) in a sliding manner by virtue of the second sliding rail (35) on the two lifting seats A; and two lifting seats A (31) can be driven by the main power driving unit to reciprocate and position along the Z-axis direction, and the specific implementation structure is as follows: the main power driving unit further comprises two groups of first Z-axis driving assemblies, each group of first Z-axis driving assemblies is provided with a second servo motor (343), a second gear (344) and a second rack (345), wherein the two second servo motors (343) are respectively and correspondingly positioned and installed on the upper parts of the two lifting seats A (31), the two second gears (344) are respectively and correspondingly positioned and sleeved on power output shafts of the two second servo motors (343), the two second racks (345) extend along the Z-axis direction and are respectively and correspondingly positioned and installed on the two moving plates A (30), and meanwhile, the two second racks (345) are respectively and correspondingly meshed and connected with the two second gears (344);
The two moving pipes A (32) are long square pipes extending along the X-axis direction, third sliding rails (36) extending along the X-axis direction are respectively laid on the upper sides of the two moving pipes A (32), and the bottom sides of the two lifting seats A (31) are respectively and correspondingly connected to the two third sliding rails (36) in a sliding manner; in addition, the two moving pipes A (32) can be driven by the main power driving unit to move and position reciprocally along the X-axis direction, and the concrete implementation structure is as follows: the main power driving unit further comprises two groups of X-axis driving assemblies, each group of X-axis driving assemblies is provided with a third servo motor (346), a third gear (347) and a third rack (348), wherein the two third servo motors (346) are respectively and correspondingly positioned and installed on the bottoms of the two lifting seats A (31), the two third gears (347) are respectively and correspondingly positioned and sleeved on power output shafts of the two third servo motors (346), the two third racks (348) extend along the X-axis direction and are respectively and correspondingly positioned and installed on the two moving pipes A (32), and meanwhile the two third racks (348) are respectively and correspondingly meshed and connected with the two third gears (347);
A fourth sliding rail extending along the Y-axis direction is laid on one side elevation of the second bearing cross beam (2) along the X-axis direction, the two moving plates B (40) are respectively and slidably connected to the fourth sliding rail, and the two moving plates B (40) can be respectively and reciprocally moved and positioned along the Y-axis direction under the drive of the auxiliary power driving unit, and the concrete implementation structure is as follows: the auxiliary power driving unit comprises two groups of second Y-axis driving assemblies, each group of second Y-axis driving assemblies is provided with a fourth servo motor (430), a fourth gear and a fourth rack, wherein the two fourth servo motors (430) are respectively and correspondingly positioned and installed on the two moving plates B (40), the two fourth gears are respectively and correspondingly positioned and sleeved on power output shafts of the two fourth servo motors (430), the two fourth racks extend along the Y-axis direction and are respectively and fixedly installed on one side vertical surface of the second bearing cross beam (2), and meanwhile, the two fourth racks are respectively close to two sides of the second bearing cross beam (2) along the Y-axis direction, and the two fourth racks are respectively and correspondingly meshed and connected with the two fourth gears;
A fifth sliding rail extending along the Z-axis direction is respectively positioned and installed on the two lifting seats B (41), a third sliding block matched and connected with the fifth sliding rail in a sliding manner is respectively positioned and installed on the two moving plates B (40), and the two lifting seats B (41) are correspondingly and slidably connected with the two moving plates B (40) respectively through the fifth sliding rail; and two lifting seats B (41) can also respectively reciprocate along the Z-axis direction under the drive of the auxiliary power driving unit, and the specific realization structure is as follows: the auxiliary power driving unit comprises two groups of second Z-axis driving assemblies, each group of second Z-axis driving assemblies is provided with a fifth servo motor (431), a fifth gear and a fifth rack, wherein the two fifth servo motors (431) are respectively and correspondingly positioned and installed on the upper parts of the two lifting seats B (41), the two fifth gears are respectively and correspondingly positioned and sleeved on power output shafts of the two fifth servo motors (431), the two fifth racks extend along the Z-axis direction and are respectively and correspondingly positioned and installed on the two moving plates B (40), and meanwhile, the two fifth racks are respectively and correspondingly meshed and connected with the two fifth gears;
the two moving pipes B (42) are rectangular square pipes extending along the X-axis direction, sixth sliding rails extending along the X-axis direction are respectively laid on the upper sides of the two moving pipes B (42), and the bottom sides of the two lifting seats B (41) are respectively and correspondingly connected to the two sixth sliding rails in a sliding mode.
2. The large three-dimensional manipulator of claim 1, wherein: each group of the first Z-axis driving components is further provided with a first lifting cylinder (349), the two first lifting cylinders (349) are respectively and correspondingly positioned and installed on the two moving plates A (30), the piston rods of the two first lifting cylinders (349) point downwards, and the piston rods of the two first lifting cylinders (349) are also respectively and correspondingly positioned and connected with the two lifting seats A (31).
3. The large three-dimensional manipulator of claim 1, wherein: each lifting seat A (31) is provided with a vertical upright A (310) and a sliding seat A (311) which is fixedly connected to the bottom side of the vertical upright A (310), wherein the second sliding rail (35) and the second servo motor (343) are respectively and fixedly arranged on each vertical upright A (310), and the third servo motor (346) and a second sliding block which is matched and slidingly connected with the third sliding rail (36) are respectively and fixedly arranged on each sliding seat A (311).
4. The large three-dimensional manipulator of claim 1, wherein: each group of second Z-axis driving assemblies is further provided with a second lifting cylinder, the two second lifting cylinders are respectively and correspondingly positioned and installed on the two moving plates B (40), piston rods of the two second lifting cylinders are downwards directed, and the piston rods of the two second lifting cylinders are also respectively and correspondingly connected with the two lifting seats B (41) in a positioning mode.
5. The large three-dimensional manipulator of claim 1, wherein: each lifting seat B (41) is provided with a vertical upright B (410) and a sliding seat B (411) which is fixedly connected to the bottom side of the vertical upright B (410), wherein the fifth sliding rail and the fifth servo motor (431) are respectively and fixedly arranged on each vertical upright B (410), and a fourth sliding block which is matched and slidingly connected with the sixth sliding rail is respectively and fixedly arranged on each sliding seat B (411).
6. The large three-dimensional manipulator of claim 1, wherein: the motion of the two groups of first Y-axis driving components is correspondingly synchronous with the motion of the two groups of second Y-axis driving components;
The motion of the two groups of first Z-axis driving components is correspondingly synchronous with the motion of the two groups of second Z-axis driving components.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109420941A (en) * | 2018-09-14 | 2019-03-05 | 芜湖中驰机床制造有限公司 | A kind of grinding machine with automatic feeding function |
| CN108942654A (en) * | 2018-09-14 | 2018-12-07 | 芜湖中驰机床制造有限公司 | A kind of reclaimer robot for grinding machine |
| CN109202560B (en) * | 2018-09-14 | 2020-06-09 | 芜湖文青机械设备设计有限公司 | Automatic change numerically control grinder |
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