CN108789485B - High-speed transfer robot of sheet material - Google Patents
High-speed transfer robot of sheet material Download PDFInfo
- Publication number
- CN108789485B CN108789485B CN201811041036.9A CN201811041036A CN108789485B CN 108789485 B CN108789485 B CN 108789485B CN 201811041036 A CN201811041036 A CN 201811041036A CN 108789485 B CN108789485 B CN 108789485B
- Authority
- CN
- China
- Prior art keywords
- seat
- rotating
- guide rail
- large arm
- linear guide
- 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.)
- Active
Links
- 238000012546 transfer Methods 0.000 title claims abstract description 17
- 239000000463 material Substances 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 56
- 239000003638 chemical reducing agent Substances 0.000 claims description 53
- 230000005540 biological transmission Effects 0.000 claims description 31
- 230000033001 locomotion Effects 0.000 claims description 25
- 239000012636 effector Substances 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 239000000956 alloy Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 230000001360 synchronised effect Effects 0.000 description 13
- 230000002829 reductive effect Effects 0.000 description 12
- 238000009434 installation Methods 0.000 description 7
- 230000000670 limiting effect Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A high-speed plate transfer robot comprises a hanging structure, a large arm structure and a small arm structure, wherein a Y-axis structure is arranged on the hanging structure, the large arm structure is arranged on the Y-axis structure, the Y-axis structure drives the large arm structure to move and rotate, and the lower end part of the large arm structure is connected with the small arm structure; the small arm structure comprises a first rotating structure, the first rotating structure is connected with a second rotating structure, the second rotating structure is connected with a third rotating structure, and the third rotating structure is connected with an end pick-up structure. The invention realizes the coordinated reciprocating swing of the large arm and the small arm of the high-speed transfer robot through the linkage of each shaft part, thereby realizing the high-speed, high-load and stable transfer of the plate materials among the presses. The production requirement of the high-speed press is met, the quality and stability of products are guaranteed, and the requirements of high sheet material conveying beat speed and high efficiency among the high-speed presses are met.
Description
Technical Field
The invention relates to the field of high-speed stamping automation, in particular to a high-speed plate carrying robot.
Background
In the automobile panel stamping industry, the production of one workpiece is usually continuous stamping production by a plurality of presses, so that the conveying of plates among the presses is crucial, and the quality of stamped products and the efficiency of the whole stamping production line are directly influenced.
The traditional manual stamping production line is relatively small in investment in the initial stage of construction, but along with expansion of market demands, the inherent efficiency is low, the product quality stability is poor, the manual labor intensity is high, and the defects of potential safety hazards of different degrees and the like are caused, so that the development of enterprises is increasingly influenced, more and more automobile manufacturers adopt robot stamping automation lines to replace the traditional manual production line at present, the robot stamping automation lines can realize automatic conveying of plates among presses, the robots replace manpower, the quality and the stability of products are ensured, and the production beats of robots used by the conventional common robot automation lines are common, so that the basic demands of production can be basically met. However, with the rapid and efficient development of the automobile industry, the annual output of automobiles is continuously increased, the transmission of plates among presses restricts the overall production beat of a stamping automation line, and the production efficiency of the conventional robot automation line can not meet the requirement of efficient production.
Disclosure of Invention
In order to solve the defects of the technical problems, the invention provides the high-speed plate carrying robot, and the coordinated reciprocating swing of the large arm and the small arm of the high-speed carrying robot is realized through the linkage of each shaft part, so that the high-speed, high-load and stable conveying of the plate between presses is realized, the production requirement of the high-beat press is met, the quality and the stability of products are ensured, and the requirements of quick plate conveying beat and high efficiency between the high-speed presses are met.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the device comprises a suspension structure, a large arm structure and a small arm structure, wherein a Y-axis structure is arranged on the suspension structure, the large arm structure is arranged on the Y-axis structure, the large arm structure can move and rotate relative to the Y-axis structure, and the lower end part of the large arm structure is connected with the small arm structure; the small arm structure comprises a first rotating structure, the first rotating structure is connected with a second rotating structure, the second rotating structure is connected with a third rotating structure, and the third rotating structure is connected with an end pick-up structure.
In order to further realize the invention, the technical scheme can also be as follows: the suspension structure comprises at least four fixing seats, at least six connecting rods and a triangular connecting seat, wherein the triangular connecting seat is connected with the four fixing seats through the six connecting rods, and rod end joint bearings are respectively arranged at two ends of the connecting rods; the rod end joint bearings at the two ends adopt positive and negative wire structures respectively and are hinged on the fixed seat and the triangular connecting seat respectively; the triangle connecting seat has three degrees of freedom of X-axis movement, Y-axis rotation and Z-axis rotation. The Y-axis structure comprises a Y-axis base, a first linear guide rail and a second linear guide rail which are arranged on the Y-axis base in parallel, and the Y-axis base is arranged on the triangular connecting seat through a connecting piece A; the first linear guide rail and the second linear guide rail are respectively provided with a driving structure and a transmission structure, the first linear guide rail and the second linear guide rail are respectively provided with a first lower sliding seat and a second lower sliding seat in a sliding manner, and the first lower sliding seat and the second lower sliding seat are respectively provided with a first rotating seat and a second rotating seat through bearing rotation. The large arm structure comprises a large arm base, a transmission mechanism and two groups of driving mechanisms, wherein the large arm base is made of aluminum alloy materials, the upper end of the large arm base is arranged on a first rotating seat, a front linear guide rail and a rear linear guide rail are arranged on the large arm base, a second rotating seat is arranged on the rear linear guide rail in a matched manner through a sliding block, and a sliding seat is arranged on the front linear guide rail in a sliding manner; the two groups of driving mechanisms are symmetrically arranged on two sides of the large arm base and are matched and connected with the transmission mechanism. The first rotating structure comprises a first mounting seat, a driving mechanism is arranged at the upper end of the first mounting seat, and the output end of the driving mechanism is arranged on the sliding seat. The second rotating structure comprises a driving mechanism, a blind hole is formed in the lower end of the first mounting seat, the driving mechanism is located in the blind hole, an inner sleeve is arranged at the output end of the driving mechanism, the outer sleeve is mounted on the periphery of the inner sleeve through a bearing, and the upper end of the outer sleeve is fixed on the first mounting seat in a matched mode. The third rotating structure comprises a second mounting seat, the second mounting seat is mounted on the inner sleeve, a blind hole is formed in the lower end of the second mounting seat, a driving mechanism is mounted in the blind hole, air cylinders are arranged on two sides of the second mounting seat, a bracket is mounted on the air cylinders, two tensioning wheels are mounted on the bracket, and a drag chain is mounted on the tensioning wheels; the output end of the driving mechanism is provided with an end pick-up mounting seat. The driving mechanism comprises a servo motor and a speed reducer, and the speed reducer is arranged on the servo motor; the transmission mechanism adopts a belt transmission mode, and an output shaft of the driving structure speed reducer is connected with a transmission shaft of the transmission mechanism. The end effector structure comprises two groups of pick-up structures, each group of pick-up structure comprises a quick-change socket, the quick-change socket is arranged on the end effector mounting seat, a quick-change plug is matched with the quick-change socket in a plug-in manner, a main rod is arranged on the quick-change plug, and two sides of the main rod are respectively connected with the sucker through a connecting piece B and the supporting rod.
The beneficial effects of the invention are as follows:
1. the high-speed robot has the advantages that the whole structure adopts the large-arm structure and the small-arm structure to move in a linked manner, so that the movement space in the logistics direction is small, the layout of the press is compact, the plate conveying distance is short, and the factory building area is saved. According to the invention, the large arm structure is driven to swing through the Y-axis structure, the small arm part performs linear motion and rotary motion on the large arm structure, and the coordinated reciprocating swing of the large arm and the small arm of the high-speed transfer robot is realized through the linkage of all the shaft parts, so that the high-speed, high-load and stable conveying of the plate materials among the presses is realized. The small arm structure realizes the high-speed and stable reciprocating swing of the tail end of the small arm, highlights the characteristics of high speed, high efficiency, stable operation, compact layout and the like of the high-speed robot, and meets the urgent requirements of the stamping automation industry on high grade, high efficiency and high beat;
2. the suspension structure adopts a fixing mode of a six-connecting-rod knuckle bearing structure, so that vibration generated when the press machine and the robot respectively run can be weakened, resonance is avoided, and the high-speed stable running of the high-speed transfer robot is facilitated;
3. The six-connecting-rod type press machine is characterized in that the connecting rod is arranged on the left side of the triangular connecting seat, and the connecting rod is connected with the left side of the triangular connecting seat.
4. According to the invention, the main parts of the large arm of the high-speed robot are made of aluminum alloy, so that the weight of moving parts is reduced, the moving inertia is reduced, the corresponding overall driving energy consumption is reduced, and the running cost is saved;
5. The invention has simple motion trail of each part, is convenient for optimizing trail curve by kinematic analysis, can quickly optimize trail of different dies, has strong adaptability, and is convenient for debugging work after installation;
6. the second rotating structure in the small arm structure has a rotating function, is compact in structure and high in strength, is suitable for conveying heavy-load materials, and can meet the requirement that the materials between presses are conveyed in a direction inclined to the logistics direction.
7. The rotating movement of the third rotating structure of the small arm part ensures that the conveying plate material always keeps horizontal in the conveying process, reduces air resistance and avoids the risk of falling due to interference with surrounding objects.
8. The third rotating structure of the small arm part adopts a mode that the servo motor directly drives the T-shaped speed reducer, and the whole transmission part is hidden in the second mounting seat, so that the size of the front section of the small arm is reduced, and interference with a die during taking and discharging is avoided.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a high-speed transfer robot according to the present invention;
FIG. 2 is a schematic view of a suspension structure according to the present invention;
FIG. 3 is a schematic perspective view of the Y-axis structure of the present invention;
FIG. 4 is a front view of FIG. 3;
FIG. 5 is a schematic view of the structure of the large arm of the present invention;
FIG. 6 is a schematic view of the forearm structure of the invention;
FIG. 7 is a partial cross-sectional view of FIG. 6;
Fig. 8 is a schematic structural diagram of an end effector according to the present invention.
Reference numerals
1. A hanging structure; 2. a Y-axis structure; 3. a large arm structure; 4. a first rotating structure; 5. a second rotating structure; 6. a third rotating structure; 7. an end effector structure; 8. a fixing seat; 9. a pin shaft; 10. a rod end joint bearing; 11. a connecting rod; 12. a triangular connecting seat; 13. a connecting piece A; 14. a Y-axis base; 15. a first guide rail brake; 16. a first servo motor; 17. a first speed reducer; 18. a first speed reducer mounting base; 19. a second servo motor; 20. a second speed reducer; 21. a second speed reducer mounting base; 22. a first linear guide rail; 23. a second linear guide rail; 24. a second guide rail brake; 25. a first drive shaft; 26. a first driving pulley; 27. a first lower slider; 28. a first rotary base; 29. a first driven shaft; 30. a first driven pulley; 31. a first synchronization belt; 32. a second driven shaft; 33. a limiting block; 34. a second driven pulley; 35. a second rotating seat; 36. a second lower slider; 37. a second timing belt; 38. a second driving pulley; 39. a second drive shaft; 40. a third speed reducer mounting base; 41. a third speed reducer; 42. a third servo motor; 43. a rear linear guide rail; 44. a large arm base; 45. a third guide rail brake; 46. a buffer; 47. a slide; 48. a front linear guide rail; 49. a limiting block; 50. a third timing belt; 51. a third driving pulley; 52. a fourth servo motor; 53. a first mount; 54. a fourth speed reducer; 55. a fifth servo motor; 56. a bearing; 57. a fifth speed reducer; 58. an outer sleeve; 59. an inner sleeve; 60. a second mounting base; 61. a sixth servo motor; 62. a T-type speed reducer; 63. an end effector mount; 64. a cylinder; 65. a drag chain; 66. a bracket; 67. a tensioning wheel; 68. a shield; 69. quick-change socket; 70. a quick-change plug; 71. a main rod; 72. a connecting piece B; 73. a support rod; 74. and a sucking disc.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The high-speed plate transfer robot comprises a hanging structure 1, a large arm structure 3 and a small arm structure, wherein a Y-axis structure 2 is arranged on the hanging structure 1, the large arm structure 3 is arranged on the Y-axis structure 2, the large arm structure 3 can move and rotate relative to the Y-axis structure 2 in the Z-axis direction, and the lower end part of the large arm structure 3 is connected with the small arm structure; the small arm structure comprises a first rotating structure 4, the first rotating structure 4 is connected with a second rotating structure 5, the second rotating structure 5 is connected with a third rotating structure 6, and the third rotating structure 6 is connected with an end pick-up structure 7.
According to the invention, the large arm structure 3 can be driven to do linear motion and rotary motion through the Y-axis structure 2, and coordinated reciprocating swing of the large arm and the small arm of the high-speed transfer robot is realized through linkage of all shaft parts, so that high-speed, high-load and stable conveying of the plate materials among presses is realized. The whole structure of the high-speed robot adopts the large arm structure 3 and the small arm structure to move in a linkage way, the movement space in the logistics direction is small, the layout of the press is compact, the plate material transmission distance is shortened, and the factory building area is saved. The invention realizes the high-speed and stable reciprocating swing of the tail end of the small arm, highlights the characteristics of high-speed and high-efficiency, stable operation, compact layout and the like of the high-speed robot, and meets the urgent requirements of the stamping automation industry on high-grade, high-efficiency and high-beat production.
As shown in fig. 2, the suspension structure selected in the invention comprises at least four fixing seats 8, at least six connecting rods 11 and a triangular connecting seat 12, wherein the triangular connecting seat 12 is connected with the four fixing seats 8 through the six connecting rods 11, and rod end joint bearings 10 are respectively arranged at two ends of the connecting rods 11; the rod end joint bearings 10 at the two ends adopt positive and negative wire structures respectively and are hinged on the fixed seat 8 and the triangular connecting seat 12 respectively; the triangular connecting seat 12 has three degrees of freedom of X-axis movement, Y-axis rotation and Z-axis rotation. The triangular connecting seat 12 can do three degrees of freedom motions of X-axis movement, Y-axis rotation and Z-axis rotation by adjusting the length of the connecting rod 11. The rod end joint bearings 10 are respectively arranged at two ends of the connecting rod 11, the rod end joint bearings 10 at two ends respectively adopt a positive and negative screw structure, namely the rod end joint bearing 10 at one end adopts a positive screw thread, the rod end joint bearing 10 at the other end adopts a reverse screw thread, further, a hole can be formed in the middle of the connecting rod 11, the stressing rod can be conveniently inserted to rotate the connecting rod 11 to adjust the length of the stressing rod, the specific position of the mounting surface of the triangular connecting seat 12 is further adjusted, the fixed seat 8 is arranged on a stand column of the press, the rod end joint bearing 10 is preferably connected with the fixed seat 8 through a pin shaft 9, and the position of the fixed seat 8 is adjusted, so that the specific position of the triangular connecting seat 12 can be adjusted, and the mounting requirements of different press sizes are met; the triangle connecting seat 12 adopts a six-link suspension mode, so that vibration generated during the working of the press machine can be counteracted, and meanwhile, vibration during the working of the high-speed transfer robot can be weakened. The six-connecting-rod structure of the suspension structure not only can meet the installation requirements of various types of presses and is convenient to adjust, but also is beneficial to the stable operation of the high-speed transfer robot.
The Y-axis structure 2 comprises a Y-axis base 14, a first linear guide rail 22 and a second linear guide rail 23 which are arranged on the Y-axis base 14 in parallel, wherein the Y-axis base 14 is arranged on a triangular connecting seat 12 through a connecting piece A13; the first linear guide rail 22 and the second linear guide rail 23 are respectively provided with a driving structure and a transmission structure, the first linear guide rail 22 and the second linear guide rail 23 are respectively provided with a first lower sliding seat 27 and a second lower sliding seat 36 in a sliding manner, and the first lower sliding seat 27 and the second lower sliding seat 36 are respectively provided with a first rotating seat 28 and a second rotating seat 35 in a rotating manner through bearings.
The Y-axis base 14 is fixed on the triangular connecting seat 12 through a connecting piece A13, and a first linear guide rail 22 and a second linear guide rail 23 are sequentially arranged on the Y-axis base 14 from top to bottom; for clarity, as shown in fig. 3 and 4, the driving structure on the first linear guide rail 22 adopts a first servo motor 16 and a first speed reducer 17, the first servo motor 16 is connected with the first speed reducer 17 and then is mounted on a first speed reducer mounting seat 18, and the first speed reducer mounting seat 18 is mounted in cooperation with the Y-axis base 14; the transmission mechanism on the first linear guide rail 22 comprises a first driving shaft 25, and an output shaft of the first speed reducer 17 is in locking connection with the first driving shaft 25 through a locking disc; the two ends of the first driving shaft 25 are arranged on the Y-axis base 14 through bearings, the first driving shaft 25 is provided with a first driving belt pulley 26, the first driving belt pulley 26 drives a first driven belt pulley 30 through a first synchronous belt 31, the first driven belt pulley 30 is arranged on a first driven shaft 29 through bearings, the first driven shaft 29 is arranged on the Y-axis base 14, the first synchronous belt 31 is connected with a first lower slide seat 27, therefore, a driving mechanism on a first linear guide rail 22 can drive the first lower slide seat 27 to do linear motion on the first linear guide rail 22 through a transmission mechanism, the middle of the first lower slide seat 27 is connected with a first rotary seat 28 through bearings, a passive revolute pair is formed, and the structure enables the passive revolute pair to move linearly and rotationally; For clarity, as shown in fig. 3 and fig. 4, the driving mechanism of the second linear guide rail 23 adopts a second servo motor 19 and a second speed reducer 20, the second servo motor 19 is connected with the second speed reducer 20 and then is mounted on a second speed reducer mounting seat 21, the second speed reducer mounting seat 21 is mounted in cooperation with the Y-axis base 14, and an output shaft of the second speed reducer 20 is in locking connection with a second driving shaft 39 through a locking disc; The two ends of the second driving shaft 39 are arranged on the Y-axis base 14 through bearings, the second driving shaft 39 is provided with a second driving belt pulley 38, the second driving belt pulley 38 drives a second driven belt pulley 34 through a second synchronous belt 37, the second driven belt pulley 34 is arranged on a second driven shaft 32 through bearings, the second driven shaft 32 is arranged on the Y-axis base 14, the second synchronous belt 37 is connected with a second lower sliding seat 36, therefore, a driving mechanism on the second linear guide rail 23 can drive the second lower sliding seat 36 to do linear motion along the second linear guide rail 23 through a transmission mechanism, the middle of the second lower sliding seat 36 is connected with a second rotating seat 35 through bearings, forming a passive rotating pair, wherein the passive rotating pair can move linearly and rotationally; the synchronous belt of the transmission mechanism is transmitted and is also provided with a tensioning device, the tensioning device comprises a fixed block with a threaded hole and a movable block with a through hole, one end of the synchronous belt is connected with the fixed block with the threaded hole, the other end of the synchronous belt is connected with the movable block with the through hole, and a long screw passes through the through hole of the movable block and is in threaded connection with the threaded hole of the fixed block; the tensioning devices of the synchronous belt transmission are arranged on the inner sides of the first lower sliding seat 27 and the second lower sliding seat 36, and the tightness of the synchronous belt is adjusted by adjusting the long screws of the tensioning devices, so that the reciprocating clearance error can be reduced; the transmission mechanism on the first linear guide rail 22 and the second linear guide rail 23 is provided with a broken belt detection switch on the first lower sliding seat 27 and the second lower sliding seat 36 respectively, two ends on the first linear guide rail 22 and the second linear guide rail 23 are provided with limiting blocks 33 respectively, the first linear guide rail 22 and the second linear guide rail 23 are provided with a first guide rail brake 15 and a second guide rail brake 24 respectively, and when the detection switch detects the broken belt of the synchronous belt, the guide rail brake immediately locks the guide rail, so that the damage of equipment after the broken belt is avoided.
As shown in fig. 5, the large arm structure 3 in the present invention includes a large arm base 44, a transmission mechanism and two sets of driving mechanisms, the large arm base 44 is made of an aluminum alloy material, the upper end of the large arm base 44 is disposed on the first rotating seat 28, a front linear guide rail 48 and a rear linear guide rail 43 are disposed on the large arm base 44, the rear linear guide rail 43 is provided with a second rotating seat 35 through a slider in cooperation, and a slide seat 47 is slidably disposed on the front linear guide rail 48; two groups of driving mechanisms are symmetrically arranged on two sides of the large arm base 44 and are matched and connected with a transmission mechanism.
The large arm structure 3 is positioned in the Z-axis direction; the large arm base 44 is formed by connecting aluminum plates in order to lighten the mass of the moving part, so that the power configuration of the Y-axis structure 2 is reduced; for clarity of description, as shown in fig. 5, the transmission mechanism of the large arm structure 3 adopts a third driving pulley 51 and a third synchronous belt 50, and transmission components such as the third driving pulley 51, the third synchronous belt 50 and the like of the transmission mechanism are mounted on the large arm base 44; the upper end of the large arm base 44 is fixed with the first rotating seat 28, and the upper end of the large arm base 44 can do linear motion along the first linear guide rail 22 and can also rotate around the first lower sliding seat 27; the front and rear sides of the large arm base 44 are respectively provided with a linear guide rail, the rear linear guide rail 43 is fixed with the second rotating seat 35 of the Y-axis structure 2 through a sliding block, so that the large arm base 44 can linearly move along the second linear guide rail 23 of the Y-axis structure 2 and rotate around the second lower sliding seat 36 of the Y-axis structure 2, the large arm structure 3 is ensured to move in a plane formed by the first linear guide rail 22 and the second linear guide rail 23 of the Y-axis structure 2, and the movement condition of the large arm structure 3 is determined by adjusting the movement speed and direction of the first lower sliding seat 27 and the second lower sliding seat 36 on the Y-axis structure 2: when the movement directions of the first lower sliding seat 27 and the second lower sliding seat 36 are opposite, the large arm structure 3 makes reciprocating swing, and when the movement directions and the movement speeds of the first lower sliding seat 27 and the second lower sliding seat 36 are the same, the large arm structure 3 makes horizontal conveying; the front linear guide rail 48 is connected with the slide seat 47 through a slide block, and the slide seat 47 can do linear motion along the front linear guide rail 48 on the large arm structure 3; the third guide rail brake 45 is also arranged on the slide seat 47, and the third guide rail brake 45 can immediately hold the front linear guide rail 48 when the machine is stopped or the synchronous belt is broken, so that the motor braking force under the stop state is reduced, and the slide seat 47 is prevented from being damaged when the belt is broken; the large arm base 44 can be also provided with a limiting block 49 and a buffer 46, and the structure prevents the sliding seat 47 from being separated from the front linear guide rail 48 during installation or abnormal operation, thereby causing casualties and equipment damage. The structure greatly improves the safety and avoids potential safety hazards. For clarity, as shown in fig. 5, the driving structure of the large arm structure 3 adopts two groups of driving mechanisms, the driving mechanisms adopt a third servo motor 42 and a third speed reducer 41, the third servo motor 42 is connected with the third speed reducer 41 in a matching way and then is arranged on a third speed reducer mounting seat 40, the third speed reducer mounting seat 40 is arranged on a large arm base 44 in a matching way, and an output shaft of the third speed reducer 41 is connected with a transmission shaft of a transmission mechanism in the structure in a locking way by a locking disc, so that the structure can transmit large torque and is convenient to assemble and disassemble; the driving structure in the structure adopts two groups of driving mechanisms for driving, the two groups of driving mechanisms are symmetrically distributed and installed on the large arm structure 3, and the gravity center is kept on a symmetrical plane, so that uneven stress during the reciprocating swing of the large arm structure 3 is avoided, and the driving and the stable operation during the swing of the large arm structure 3 are influenced.
The robot forearm part comprises a first rotating structure 4, a second rotating structure 5 and a third rotating structure 6, and the three rotating structures respectively realize various functions of the forearm; as shown in fig. 6 and 7, the first rotating structure 4 includes a first mounting seat 53, a driving mechanism is disposed at an upper end of the first mounting seat 53, and an output end of the driving mechanism is mounted on the slide 47. For clarity, the driving structure of the first rotating structure 4 adopts a fourth servo motor 52 and a fourth speed reducer 54, the fourth speed reducer 54 adopts an RV speed reducer, a first mounting seat 53 in the first rotating structure 4 is mounted on the slide seat 47 through the RV speed reducer, the output end of the RV speed reducer is fixed on the slide seat 47, and when the fourth servo motor 52 is started, the first mounting seat 53 performs a rotary motion. The RV reducer in the structure has the characteristics of small size and light weight, and the RV reducer is adopted to reduce the overall size and weight of the first rotating structure 4; the RV reducer is installed on the slide seat 47 of the large arm structure 3, the fourth servo motor 52 drives the RV reducer to rotate after being started, because the output end of the RV reducer is fixed on the slide seat 47, the first installation seat 53 connected with the RV reducer rotates along with the RV reducer, and further the whole first rotation structure 4 is driven to swing, the reciprocating swing function of the small arm part is achieved, preferably, the RV reducer installation seat is formed by processing aluminum alloy materials, the weight of a front-section motion part of a robot is reduced, driving power is reduced, and running energy consumption is saved under the condition that strength requirements are met.
The second rotating structure 5 comprises a driving mechanism, a blind hole is formed in the lower end of the first mounting seat 53, the driving mechanism is located in the blind hole, an inner sleeve 59 is arranged at the output end of the driving mechanism, an outer sleeve 58 is mounted on the periphery of the inner sleeve 59 through a bearing 56, and the upper end of the outer sleeve 58 is fixed on the first mounting seat 53 in a matched mode. In order to clearly show, as shown in fig. 6 and 7, a driving mechanism of the second rotating structure 5 adopts a fifth servo motor 55, a fifth speed reducer 57 is installed on the fifth servo motor 55, the fifth servo motor 55 and the fifth speed reducer 57 are connected and then installed in a blind hole at the lower end of the first installation seat 53, the output end of the fifth speed reducer 57 is fixedly connected with an inner sleeve 59, an outer sleeve 58 is matched and fixed with the first installation seat 53 of the first rotating structure 4, the fifth speed reducer 57 can drive the inner sleeve 59 to perform rotary motion, a bearing is additionally arranged between the inner sleeve 59 and the outer sleeve 58, and the structure enhances the stress of the front section of the forearm, so that the load capacity of the high-speed robot is ensured; the fifth speed reducer 57 and the fifth servo motor 55 of the second rotating structure 5 are arranged in the blind hole of the first mounting seat 53 of the first rotating structure 4, and rotate relative to the first rotating structure 4, so that the size of the front section of the robot is reduced, and the interference phenomenon when the front section of the robot enters the press is avoided; the rotation function of the second rotating structure 5 meets the conveying function that the plates between the presses are inclined to the material flowing direction.
The third rotating structure 6 comprises a second mounting seat 60, the second mounting seat 60 is mounted on an inner sleeve 59 of the second rotating structure 5, a blind hole is vertically formed in the lower end of the second mounting seat 60, a driving mechanism is mounted in the blind hole, air cylinders 64 are arranged on two sides of the second mounting seat 60, a bracket 66 is mounted on the air cylinders 64, two tensioning wheels 67 are mounted on the bracket 66, and a drag chain 65 is mounted on the tensioning wheels 67; the output end of the driving mechanism is provided with an end pick-up mounting seat 63, the second mounting seat 60 is mounted on the inner sleeve 59 of the second rotating structure 5, the second mounting seat 60 is formed by welding a section bar and a plate, for clarity of representation, as shown in fig. 8, the driving mechanism in the third rotating structure 6 adopts a sixth servo motor 61 and a T-shaped speed reducer 62, and the connected sixth servo motor 61 and T-shaped speed reducer 62 are hidden in a blind hole of the second mounting seat 60, so that the size of the front section of the forearm is reduced, and interference with a die during material taking and discharging is avoided; the end effector mounting seat 63 is fixed on the output shaft of the T-shaped speed reducer 62, can rotate along with the rotation of the T-shaped speed reducer 62, and can be replaced according to the connection mode of the end effector, so that the connection of the end effector is facilitated; the cylinder 64 is installed in the both sides of second mount pad 60, and support 66 is installed on cylinder 64, and take-up pulley 67 is installed on support 66, and take-up pulley 67 is walked around respectively to tow chains 65 of both sides, and tow chains 65 of both sides remain tensioning state throughout, and this structure is convenient for the arrangement of trachea and circuit, and the rotatory effect of this third rotating-structure 6 is used for the sheet material to keep the level in the transportation process, and then has reduced air resistance, has prevented that the sheet material from interfering with surrounding object.
The end effector structure of the present invention comprises two groups of picking structures, as shown in fig. 8, each group of picking structures comprises a quick-change socket 69, the quick-change socket 69 is mounted on the end effector mounting seat 63, a quick-change plug 70 is matched and inserted on the quick-change socket 69, a main rod 71 is arranged on the quick-change plug 70, and two sides of the main rod 71 are respectively connected with a sucker 74 through a connecting piece B72 and a supporting rod 73. The quick-change socket 69 is mounted on the end effector mounting seat 63 of the third rotating structure 6, and the quick-change plug 70 is directly inserted on the quick-change socket 69, so that quick-change of the end effector is facilitated; the connecting piece B72 and the supporting rods 73 are arranged on the main rod 71, the quantity and the position arrangement of the supporting rods 73 are adjusted according to the shape and the weight of the plate, and the sucking disc 74 is arranged on the supporting rods 73 and used for sucking the plate.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (5)
1. The utility model provides a high-speed transfer robot of sheet material, includes suspended structure (1), big arm structure (3) and forearm structure, its characterized in that: a Y-axis structure (2) is arranged on the suspension structure (1), a large arm structure (3) is arranged on the Y-axis structure (2), the large arm structure (3) can move and rotate relative to the Y-axis structure (2), and the lower end part of the large arm structure (3) is connected with a small arm structure; the small arm structure comprises a first rotating structure (4), the first rotating structure (4) is connected with a second rotating structure (5), the second rotating structure (5) is connected with a third rotating structure (6), and the third rotating structure (6) is connected with an end pick-up structure (7);
The suspension structure comprises at least four fixing seats (8), at least six connecting rods (11) and a triangular connecting seat (12), wherein the triangular connecting seat (12) is connected with the four fixing seats (8) through the six connecting rods (11), and rod end joint bearings (10) are respectively arranged at two ends of the connecting rods (11); the rod end joint bearings (10) at the two ends are respectively in a positive and negative wire structure and are respectively hinged on the fixed seat (8) and the triangular connecting seat (12); the triangular connecting seat (12) has three degrees of freedom of X-axis movement, Y-axis rotation and Z-axis rotation;
the Y-axis structure (2) comprises a Y-axis base (14), a first linear guide rail (22) and a second linear guide rail (23) which are arranged on the Y-axis base (14) in parallel, and the Y-axis base (14) is arranged on the triangular connecting seat (12) through a connecting piece A (13); a driving structure and a transmission structure are arranged on the first linear guide rail (22) and the second linear guide rail (23), a first lower sliding seat (27) and a second lower sliding seat (36) are respectively arranged on the first linear guide rail (22) and the second linear guide rail (23) in a sliding mode, and a first rotating seat (28) and a second rotating seat (35) are respectively arranged on the first lower sliding seat (27) and the second lower sliding seat (36) in a rotating mode through bearings.
2. The sheet high-speed transfer robot of claim 1, wherein: the large arm structure (3) comprises a large arm base (44), a transmission mechanism and two groups of driving mechanisms, wherein the large arm base (44) is made of aluminum alloy materials, the upper end of the large arm base (44) is arranged on the first rotating seat (28), a front linear guide rail (48) and a rear linear guide rail (43) are arranged on the large arm base (44), a second rotating seat (35) is arranged on the rear linear guide rail (43) in a matched manner through a sliding block, and a sliding seat (47) is arranged on the front linear guide rail (48) in a sliding manner; the two groups of driving mechanisms are symmetrically arranged at two sides of the large arm base (44) and are matched and connected with the transmission mechanism.
3. The sheet high-speed transfer robot of claim 1, wherein: the first rotating structure (4) comprises a first mounting seat (53), a driving mechanism is arranged at the upper end of the first mounting seat (53), and the output end of the driving mechanism is arranged on the sliding seat (47);
The second rotating structure (5) comprises a driving mechanism, a blind hole is formed in the lower end of the first mounting seat (53), the driving mechanism is located in the blind hole, an inner sleeve (59) is arranged at the output end of the driving mechanism, an outer sleeve (58) is mounted on the periphery of the inner sleeve (59) through a bearing (56), and the upper end of the outer sleeve (58) is fixed on the first mounting seat (53) in a matched mode;
The third rotating structure (6) comprises a second mounting seat (60), the second mounting seat (60) is mounted on the inner sleeve (59), a blind hole is formed in the lower end of the second mounting seat (60), a driving mechanism is mounted in the blind hole, air cylinders (64) are arranged on two sides of the second mounting seat (60), a bracket (66) is mounted on the air cylinders (64), two tensioning wheels (67) are mounted on the bracket (66), and a drag chain (65) is mounted on the tensioning wheels (67); the output end of the driving mechanism is provided with an end pick-up mounting seat (63).
4. A sheet high-speed transfer robot as claimed in claim 3, wherein: the driving mechanism comprises a servo motor and a speed reducer, and the speed reducer is arranged on the servo motor; the transmission mechanism adopts a belt transmission mode, and an output shaft of the driving structure speed reducer is connected with a transmission shaft of the transmission mechanism.
5. The sheet high-speed transfer robot of claim 1, wherein: the end effector structure comprises two groups of pick-up structures, each group of pick-up structure comprises a quick-change socket (69), the quick-change socket (69) is arranged on the end effector mounting seat (63), a quick-change plug (70) is matched and inserted on the quick-change socket (69), a main rod (71) is arranged on the quick-change plug (70), and two sides of the main rod (71) are connected with a sucker (74) through a connecting piece B (72) and a supporting rod (73) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811041036.9A CN108789485B (en) | 2018-09-07 | 2018-09-07 | High-speed transfer robot of sheet material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811041036.9A CN108789485B (en) | 2018-09-07 | 2018-09-07 | High-speed transfer robot of sheet material |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108789485A CN108789485A (en) | 2018-11-13 |
| CN108789485B true CN108789485B (en) | 2024-09-13 |
Family
ID=64081910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811041036.9A Active CN108789485B (en) | 2018-09-07 | 2018-09-07 | High-speed transfer robot of sheet material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108789485B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397830A (en) * | 2015-12-14 | 2016-03-16 | 苏州源硕精密模具有限公司 | Suction cup type end picking device for board machining |
| CN105658350A (en) * | 2013-08-16 | 2016-06-08 | 固都集团股份公司 | Transfer device for workpiece |
| CN107981958A (en) * | 2017-11-27 | 2018-05-04 | 黄正秀 | A kind of orthopaedics patient with cervical Spondylopathy pushes size manipulator with multiple degrees of freedom is adjustable |
| CN108941360A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208790700U (en) * | 2018-09-07 | 2019-04-26 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208930299U (en) * | 2018-09-07 | 2019-06-04 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
| CN209006552U (en) * | 2018-09-07 | 2019-06-21 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201677321U (en) * | 2010-03-03 | 2010-12-22 | 奇瑞汽车股份有限公司 | Front inserted tooling |
| JP5631372B2 (en) * | 2012-10-23 | 2014-11-26 | 株式会社エイチアンドエフ | Work transfer device |
| CN105538303B (en) * | 2016-02-22 | 2017-04-26 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN108262739A (en) * | 2016-06-23 | 2018-07-10 | 安溪县中磊设备制造有限公司 | A kind of slotting paper intelligent robot |
| JP6591940B2 (en) * | 2016-07-21 | 2019-10-16 | ファナック株式会社 | Transfer robot |
| CN106426127B (en) * | 2016-10-25 | 2019-03-05 | 丁可平 | Large-scale cargo handling robot |
| CN207373168U (en) * | 2017-08-24 | 2018-05-18 | 深圳汉邦自动化设备有限公司 | A kind of rail structure applied to SCARA robots |
| CN108098818B (en) * | 2018-02-08 | 2024-05-14 | 济南奥图自动化股份有限公司 | High air permeability work piece transport end effector system |
-
2018
- 2018-09-07 CN CN201811041036.9A patent/CN108789485B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105658350A (en) * | 2013-08-16 | 2016-06-08 | 固都集团股份公司 | Transfer device for workpiece |
| CN105397830A (en) * | 2015-12-14 | 2016-03-16 | 苏州源硕精密模具有限公司 | Suction cup type end picking device for board machining |
| CN107981958A (en) * | 2017-11-27 | 2018-05-04 | 黄正秀 | A kind of orthopaedics patient with cervical Spondylopathy pushes size manipulator with multiple degrees of freedom is adjustable |
| CN108941360A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
| CN108946160A (en) * | 2018-09-07 | 2018-12-07 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208790700U (en) * | 2018-09-07 | 2019-04-26 | 济南昊中自动化有限公司 | A kind of high speed transfer robot |
| CN208930299U (en) * | 2018-09-07 | 2019-06-04 | 济南昊中自动化有限公司 | A kind of plate high speed transfer robot |
| CN209006552U (en) * | 2018-09-07 | 2019-06-21 | 济南昊中自动化有限公司 | A kind of high speed stamping transfer robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108789485A (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108941360B (en) | High-speed punching press transfer robot | |
| CN103357777B (en) | Three-dimensional manipulator conveying equipment for stamping equipment | |
| CN209006552U (en) | A kind of high speed stamping transfer robot | |
| CN107127590A (en) | A kind of dexterous three-jaw automatic centring fixture of translation swallow appearance cam mandrel type | |
| CN207087866U (en) | A kind of three coupling type manipulators | |
| CN111688562A (en) | Truck with automatic loading device | |
| CN208790700U (en) | A kind of high speed transfer robot | |
| CN108946160A (en) | A kind of high speed transfer robot | |
| CN108789485B (en) | High-speed transfer robot of sheet material | |
| CN115519534A (en) | Automatic feeding device is used in belt pulley production | |
| CN111842688B (en) | High-speed carrying device | |
| CN208249274U (en) | Linkage feed mechanism | |
| CN208930299U (en) | A kind of plate high speed transfer robot | |
| CN2510867Y (en) | Automatic turning-conveying apparatus for magnetic powder defects-detection of work piece to be detected | |
| CN202964649U (en) | Two-axis manipulator used on stamping production line | |
| CN206203395U (en) | A kind of streamline product inverts placing device | |
| CN207077161U (en) | A kind of automatic turning frock for the assembling of brake drum wheel hub assembly | |
| CN206126805U (en) | Economize general type rotation type component assembly assembly line of station | |
| CN212044730U (en) | Five-axis manipulator | |
| CN110530258B (en) | Automatic feeding and clamping device based on machine vision size detection machine | |
| CN106553911A (en) | A kind of all-steel radial tyre Palletised carry manipulator | |
| CN209209842U (en) | A multi-point synchronous lifting conveyor | |
| CN208747065U (en) | A kind of pallet head sideward machine | |
| CN215395309U (en) | Diaxon arm device | |
| CN110963114A (en) | Automatic snatch packing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |