CN109333517A - A kind of truss-like multi-arm robot and truss-like multistation continuous production device - Google Patents
A kind of truss-like multi-arm robot and truss-like multistation continuous production device Download PDFInfo
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- CN109333517A CN109333517A CN201811556936.7A CN201811556936A CN109333517A CN 109333517 A CN109333517 A CN 109333517A CN 201811556936 A CN201811556936 A CN 201811556936A CN 109333517 A CN109333517 A CN 109333517A
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- axis
- arm
- truss
- rotation
- arms
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- 238000010924 continuous production Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 23
- 230000007704 transition Effects 0.000 claims description 5
- 208000032370 Secondary transmission Diseases 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004080 punching 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0075—Truss
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
Abstract
The present invention provides a kind of truss-like multi-arm robot, including Y-axis driving mechanism, Y-axis mobile device, Z axis driving mechanism, Z axis mobile device, an arm driving mechanism, one arm of rotation, two arm driving mechanisms, one arm of rotation, rotation two arms, handgrip group driving mechanism, handgrip group.The centre of handgrip group is connected with two arms of rotation, completes the movement of X axis jointly by an arm servo motor, two arm servo motors, can effectively avoid the interference of the guide post guide sleeve of mold, and movement velocity is fast, effectively improves production capacity.The multistation continuous production device being made of multiple truss-like multi-arm robots, the movement in its truss direction is driven by one group of driving mechanism, synchronously completes the production of N number of station and feeding, blanking.
Description
Technical field
The present invention relates to field of mechanical automation production, and in particular to a kind of truss-like multi-arm robot and truss-like multiplexing
Position continuous production device.
Background technique
In tradition machinery manufacture, Large Complex Equipment needs to produce by large pressing machine multiple site punching, in each work
Between position, artificial or traditional carrying mechanism is needed to be carried, artificial large labor intensity, low efficiency, due to stamping die
The device heights such as tool are higher, and each station lifting workpiece needs very big and very high space, therefore carrying mechanism is arranged on ground
Also it is difficult to meet its needs, truss is set, machine handgrip is set up on truss can effectively solve the above problem, such as
CN207344593U patent discloses a kind of projecting truss robot grasping mechanism, which robot is arranged on truss and grabs
Hand, can be effectively solved carrying of the large-scale workpiece between each station, but such as stamping equipment, the mold of each station and
Equipment is all want when complexity, only one arm of the robot gripper, it is difficult to refinement motion is completed, so that avoiding obstacles is same
Shi Jinhang is carried, and improves working efficiency, guarantees work safety.
Summary of the invention:
It is an object of the present invention to provide a kind of truss-like multi-arm robots, to solve efficiency in handling process in the prior art
Low, the operation technical problems such as fine degree is low and transporting velocity is slow.
In order to achieve the above object, the present invention adopts the following technical scheme:
A kind of truss-like multi-arm robot, Y-axis driving mechanism, Y-axis mobile device, Z axis driving mechanism, Z axis mobile device,
Rotate an arm, two arms of rotation and handgrip group；It is characterized by:
The Y-axis driving mechanism installation and Y-axis mobile device installation are installed on truss, and the Y-axis drives
Mechanism can drive the Y-axis mobile device to move in parallel along the truss；
The Z axis mobile device is slidably connected the Y-axis moving mechanism, and Z axis driving is equipped in the Z axis mobile device
Device, the Z axis driving mechanism can drive the Z axis mobile mechanism to move up and down along the Y-axis mobile device；
One end of one arm of the rotation and the Z axis mobile mechanism are rotatablely connected, and the one of two arms of the other end and the rotation
End rotation connection, the other end of two arms of the rotation and the intermediate of the handgrip group connect, one arm of the rotation and the rotation
It is respectively arranged with an arm driving mechanism and two arm driving mechanisms on two arms, one arm of rotation and two arms of rotation can be driven in XY level
In-plane moving.
Preferably, the Y-axis moving mechanism includes Y-axis take-up housing and Y-axis sliding block, and the Y-axis driving mechanism includes Y
Axis driving motor and chain sprocket mechanism, the Y-axis sliding block are connect with the chain sprocket mechanism, and the Y-axis driving motor drives
The chain sprocket movement is moved, to drive the relatively described truss movement of the Y-axis sliding block.
Preferably, the Z axis mobile mechanism includes Z axis take-up housing and Z axis sliding block, and the Z axis driving mechanism includes that Z axis drives
Dynamic motor and leading screw and nut mechanism, the screw rod of the leading screw and nut mechanism are mounted on the Y-axis take-up housing, and nut is mounted on institute
It states on Z axis take-up housing, the Z axis driving motor drives the leading screw and nut mechanism movement, to drive the Z axis sliding block opposite
The screw rod movement.
Preferably, the arm driving mechanism include an arm driving motor and an arm transmission shaft, the arm transmission shaft with
One end connection of one arm of the rotation, the arm driving motor drive the arm transmission shaft, to drive the rotation one
Arm rotation, the two arms driving mechanism include two arm driving motors and two arm transmission shafts, the two arms transmission shaft and the rotation
One end of two arms connects, and the two arms driving motor drives the two arms transmission shaft, so that two arms of the rotation be driven to rotate.
Preferably, also set up on one arm of the rotation handgrip group driving motor, level-one drive pulley, level synchronization band,
The other end of one arm of the rotation is provided with level-one driven pulley, is arranged two between two arms of one arm of the rotation and the rotation
Grade transmission transition axis, it is described rotation two arms one end setting second level drive pulley, secondary synchronization band, it is described rotation two arms it is another
One end is provided with second level driven pulley, and the handgrip group driving motor connect with the level-one drive pulley, the second level
Transmission transition axis connect respectively with the level-one driven pulley and the second level drive pulley, the centre of the handgrip group and
The second level driven pulley connection.
Preferably, the Z axis driving motor is mounted on the Y-axis take-up housing.
Preferably, the arm driving motor is mounted on the Z axis take-up housing.
Preferably, an arm link is provided between one arm of the arm driving motor and the rotation.
Originally it returns and provides a kind of truss-like multistation continuous production device, including truss and N number of work station, Mei Gegong
Associated production work is carried out on position, N+1 truss-like multi-arm robot is set on truss, and the truss-like multi-arm robot exists
Movement on truss is driven with one group of driving mechanism, synchronously completes the production of N number of station and feeding, blanking.
This programme has the following beneficial effects:
1, truss-like multi-arm robot is not take up ground space, saves place.
2, the robot gripper, transporting capacity is strong, can satisfy the carrying of the big workpiece of large pressing machine.
3, an arm, two arms are rotated up to cranking arm along X-motion simultaneously, the guide post guide sleeve in addition to effectively avoiding mold
Interference, and movement velocity is fast, effectively improves production capacity.
4, handgrip group driving motor be arranged on an arm, when press machine is out of control or robot linkage it is out of control in the state of, grab
Hand group is damaged when causing two arms impacted and will not impact to handgrip group driving motor.
5, N+1 truss-like multi-arm robot Y-motion only uses one group of servo motor/retarder group to complete, in addition to same
Step property well also effectively saves machine cost and productive power cost.
Detailed description of the invention
Fig. 1 is truss-like multi-arm robot structural schematic diagram of the present invention；
Fig. 2 is multistation continuous production device structural schematic diagram of the present invention；
Fig. 3 is Y-axis drive part schematic diagram of the present invention.
Specific embodiment
Illustrate selected embodiment of the invention referring now to Figure of description, those skilled in the art are according to the sheet of the disclosure
Subordinate's explanation of the embodiment of invention is merely exemplary, the scheme being not meant to limit the present invention.
The present embodiment is truss-like multi-arm robot, which is erected on the truss of factory, together with truss
It is combined into tri- coordinate motion system of X-Y-Z, it is Z axis side that definition, which is moved along truss direction as Y direction, direction perpendicular to the ground,
To YZ plane vertical direction is X-direction.The truss-like multi-arm robot is by Y-axis driving mechanism, Y-axis mobile device, Z axis
Driving mechanism, an arm driving mechanism, one arm of rotation, two arm driving mechanisms, one arm of rotation, two arms of rotation, is grabbed at Z axis mobile device
Hand group driving mechanism, handgrip group composition.
Y-axis driving mechanism includes the Y-axis servo motor 1-1 being mounted on truss 100 and sequentially connected retarder 1-
2, shaft coupling 1-3, transmission shaft 1-4 and chain sprocket mechanism 1-5, transmission shaft 1-2 are mounted on one end of truss item by bearing,
Y-axis moving mechanism includes line rail sliding block 1-8 after line rail sliding block 1-7, Y-axis before Y-axis take-up housing 1-6, Y-axis, line rail sliding block 1- before Y-axis
7, line rail sliding block 1-8 is separately fixed at 1-6 on Y-axis take-up housing after Y-axis, and can be slidably matched with truss, chain and each machine
Line rail sliding block 7 is fixedly connected after the Y-axis of people.
Z axis driving mechanism includes being mounted on the Y-axis servo motor 2-1 of 1-6 on Y-axis take-up housing and sequentially connected subtracting
The screw rod 2-3-1 of fast device 2-2, leading screw and nut mechanism 2-3, leading screw and nut mechanism are mounted on the Z axis screw rod seat of honour and Z axis by bearing
Seat under screw rod, Z axis mobile mechanism include Z axis take-up housing 2-4 and Z axis sliding block 2-5, the nut 2-3-2 and Z axis of leading screw and nut mechanism
Take-up housing 2-4 is fixedly connected, and Z axis sliding block 2-5 is slidably matched with screw rod 2-3-1.
One arm driving mechanism includes the arm servo motor 3-1 being mounted on Z axis take-up housing 2-5 and sequentially connected
Retarder 3-2, an arm transmission shaft 3-3, an arm transmission shaft are mounted on an arm drive axle seat 3-4 by bearing, rotate an arm 3-5
One end is connect by adapter sleeve 3-6, an arm transmission shaft fastening nut 3-7 with an arm transmission shaft 3-3, an arm drive axle seat 3-4 and
Rotating has arm link 3-8 support between an arm 3-5.
Two arm driving mechanisms include being mounted on the servo motor 4-1 of the one arm 3-5 other end of rotation and sequentially connected subtracting
Fast device 4-2, two arm transmission shaft 4-3, two arm transmission shafts are mounted on two arm drive axle seat 4-4 by bearing, rotate two arm 4-5 mono-
End is connect by adapter sleeve 4-6, two arm transmission shaft fastening nut 4-7 with two arm transmission shaft 4-3.
Handgrip group driving mechanism includes the handgrip group servo motor 5-1 being mounted on one arm 3-5 of rotation and is sequentially connected
Level-one driving shaft 5-2, level-one drive pulley 5-3, level synchronization band 5-4, level-one driven pulley 5-5, secondary transmission mistake
Cross axis 5-6, second level drive pulley 5-7, secondary synchronization band 5-8, second level driven pulley 5-9, second level driven shaft 5-10, level-one
Driving shaft 5-2 is mounted on 3-5 on one arm of rotation by bearing, and secondary transmission transition axis 5-6 is mounted on one arm of rotation by bearing
On two arm 4-5 of 3-5 and rotation, second level driven shaft 5-10 is mounted on the two arm 4-5 other ends (end) of rotation, handgrip group by bearing
The centre of 5-11 is connect with second level driven shaft 5-10.
Truss-like multi-arm robot working method of the present invention are as follows: pass through Y-axis servo motor and Z axis Servomotor driven machinery
People moves with Z-direction in the Y direction, completes the movement of X axis jointly by an arm servo motor, two arm servo motors, in production
Workpiece is moved and (is moved forward or rearward) up to work point (forward to operating point, backward up to the movement of workpiece Y-axis along X axis
Point).
The multistation continuous production device that the present invention is made of multiple truss-like multi-arm robots, the Y of all robots
To movement by one group of servo motor/retarder group and one group of sprocket wheel chain group, and each robot Y-axis sliding block is mutually fixed on chain
After the Y-axis of seat in line rail sliding block, when A point is moved to B point, each robot group moves towards at the same distance, completes one
Platform motor group drives the movement of N+1 robot on entire truss, synchronously completes the production of N number of station and feeding, blanking.
Finally it should be noted that above embodiments are merely to illustrate the technical solution of the application rather than to its protection scope
Limitation, although the application is described in detail referring to above-described embodiment, the those of ordinary skill in the field should
Understand: those skilled in the art read the specific embodiment of application can still be carried out after the application various changes, modification or
Equivalent replacement, but the above change, modification or equivalent replacement, in the application wait authorize or the claim of issued for approval protection model
Within enclosing.
Claims (10)
1. a kind of truss-like multi-arm robot, Y-axis driving mechanism, Z axis driving mechanism, Z axis mobile device, turn Y-axis mobile device
A dynamic arm, two arms of rotation and handgrip group；It is characterized by:
The Y-axis driving mechanism installation and Y-axis mobile device installation are installed on truss, and the Y-axis driving mechanism
The Y-axis mobile device can be driven to move in parallel along the truss；
The Z axis mobile device is slidably connected the Y-axis moving mechanism, and Z axis driving dress is equipped in the Z axis mobile device
It sets, the Z axis driving mechanism can drive the Z axis mobile mechanism to move up and down along the Y-axis mobile device；
One end of one arm of the rotation and the Z axis mobile mechanism are rotatablely connected, and one end of two arms of the other end and the rotation turns
Dynamic connection, the other end of two arms of the rotation and the intermediate of the handgrip group connect, two arms of one arm of the rotation and the rotation
On be respectively arranged with an arm driving mechanism and two arm driving mechanisms, can drive rotation one arm and rotation two arms in XY horizontal plane
Movement.
2. truss-like multi-arm robot according to claim 1, the Y-axis moving mechanism includes that Y-axis take-up housing and Y-axis are sliding
Block, the Y-axis driving mechanism include Y-axis driving motor and chain sprocket mechanism, the Y-axis sliding block and the chain sprocket mechanism
Connection, the Y-axis driving motor drive the chain sprocket movement, to drive the relatively described truss movement of the Y-axis sliding block.
3. truss-like multi-arm robot according to claim 1, the Z axis mobile mechanism includes that Z axis take-up housing and Z axis are sliding
Block, the Z axis driving mechanism include Z axis driving motor and leading screw and nut mechanism, and the screw rod of the leading screw and nut mechanism is mounted on
On the Y-axis take-up housing, nut is mounted on the Z axis take-up housing, and the Z axis driving motor drives the leading screw and nut mechanism
Movement, to drive the relatively described screw rod movement of the Z axis sliding block.
4. truss-like multi-arm robot according to claim 1, the arm driving mechanism include an arm driving motor and
One arm transmission shaft, the arm transmission shaft are connect with one end of one arm of the rotation, the arm driving motor driving described one
Arm transmission shaft, so that one arm of the rotation be driven to rotate, the two arms driving mechanism includes that two arm driving motors and two arms are driven
Axis, the two arms transmission shaft are connect with one end of two arms of the rotation, and the two arms driving motor drives the two arms transmission shaft,
To drive two arms of the rotation to rotate.
5. truss-like multi-arm robot according to claim 1, also set up on one arm of the rotation handgrip group driving motor,
Level-one drive pulley, level synchronization band, the other end for rotating an arm are provided with level-one driven pulley, the rotation one
Setting secondary transmission transition axis between two arms of arm and the rotation, one end setting second level drive pulley of two arms of the rotation,
Secondary synchronization band, two arms of the rotation the other end be provided with second level driven pulley, the handgrip group driving motor with it is described
Level-one drive pulley connection, the secondary transmission transition axis respectively with the level-one driven pulley and the second level active skin
Belt wheel connects, the centre of the handgrip group is connect with the second level driven pulley.
6. truss-like multi-arm robot according to claim 2, the Z axis driving motor is mounted on the Y-axis take-up housing
On.
7. truss-like multi-arm robot according to claim 3, the arm driving motor is mounted on the Z axis take-up housing
On.
8. truss-like multi-arm robot according to claim 1, between one arm of the arm driving motor and the rotation
It is provided with an arm link.
9. a kind of truss-like multistation continuous production device, including truss, N number of work station and N+1 such as claim 1-9
One of described in truss-like multi-arm robot.
10. truss-like multistation continuous production device according to claim 9, the truss-like multi-arm robot is in truss
On movement driven with one group of driving mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811556936.7A CN109333517A (en) | 2018-12-19 | 2018-12-19 | A kind of truss-like multi-arm robot and truss-like multistation continuous production device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811556936.7A CN109333517A (en) | 2018-12-19 | 2018-12-19 | A kind of truss-like multi-arm robot and truss-like multistation continuous production device |
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| Publication Number | Publication Date |
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| CN109333517A true CN109333517A (en) | 2019-02-15 |
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| CN201811556936.7A Pending CN109333517A (en) | 2018-12-19 | 2018-12-19 | A kind of truss-like multi-arm robot and truss-like multistation continuous production device |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202964647U (en) * | 2012-06-01 | 2013-06-05 | 株式会社安川电机 | Transportation robot and equipment front-end module including transportation robot |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| US20170120444A1 (en) * | 2015-11-02 | 2017-05-04 | Seiko Epson Corporation | Robot, control apparatus, and robot system |
| CN207087439U (en) * | 2017-07-07 | 2018-03-13 | 沈阳机床股份有限公司 | A kind of truss feeding-blanking manipulator system |
| CN207415358U (en) * | 2017-09-13 | 2018-05-29 | 西安精雕软件科技有限公司 | A kind of truss manipulator for automatic loading/unloading |
| CN211218387U (en) * | 2018-12-19 | 2020-08-11 | 苏州神运机器人有限公司 | Truss type multi-arm robot and truss type multi-station continuous production device |
-
2018
- 2018-12-19 CN CN201811556936.7A patent/CN109333517A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202964647U (en) * | 2012-06-01 | 2013-06-05 | 株式会社安川电机 | Transportation robot and equipment front-end module including transportation robot |
| CN204322070U (en) * | 2014-11-13 | 2015-05-13 | 深圳大宇精雕科技有限公司 | Parallel articulated robot |
| US20170120444A1 (en) * | 2015-11-02 | 2017-05-04 | Seiko Epson Corporation | Robot, control apparatus, and robot system |
| CN207087439U (en) * | 2017-07-07 | 2018-03-13 | 沈阳机床股份有限公司 | A kind of truss feeding-blanking manipulator system |
| CN207415358U (en) * | 2017-09-13 | 2018-05-29 | 西安精雕软件科技有限公司 | A kind of truss manipulator for automatic loading/unloading |
| CN211218387U (en) * | 2018-12-19 | 2020-08-11 | 苏州神运机器人有限公司 | Truss type multi-arm robot and truss type multi-station continuous production device |
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