CN112077829A - Seven-axis servo system of nut-embedded automatic material taking and feeding manipulator - Google Patents
Seven-axis servo system of nut-embedded automatic material taking and feeding manipulator Download PDFInfo
- Publication number
- CN112077829A CN112077829A CN202010924991.8A CN202010924991A CN112077829A CN 112077829 A CN112077829 A CN 112077829A CN 202010924991 A CN202010924991 A CN 202010924991A CN 112077829 A CN112077829 A CN 112077829A
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- Prior art keywords
- nut
- right moving
- servo system
- axis servo
- moving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several 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
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a seven-axis servo system of a nut embedded automatic material taking and feeding manipulator, which comprises two groups of mounting frames, wherein the top surfaces of the two groups of mounting frames are horizontally and fixedly provided with front and rear moving shafts which are arranged in parallel, a left and right moving shaft capable of moving back and forth along the front and rear moving shafts is movably mounted between the two groups of front and rear moving shafts, two groups of left and right moving sliding seats capable of moving left and right along the left and right moving shafts are movably mounted on the left and right moving shafts, a mechanical arm capable of moving up and down along the left and right moving sliding seats is vertically and movably mounted on the left and right moving sliding seats, and a nut embedded detection tool capable of overturning three surfaces; the invention is provided with the seven-axis servo system, can control two groups of mechanical arms to work simultaneously through the seven-axis servo system, and can finish the work of nut taking, nut embedding, nut detecting, nut shearing and the like together through a seven-axis motion method, thereby greatly improving the nut embedding and subsequent processing efficiency.
Description
Technical Field
The invention relates to a seven-axis servo system, in particular to a seven-axis servo system of an automatic material taking and conveying manipulator with embedded nuts.
Background
In water pipe processing production process, often need bury the nut in the water pipe, in order to improve the machining efficiency that the nut buried the water pipe, before burying the water pipe in the nut, need earlier say through nut material loading with the nut to workstation automatic feeding, then place the nut in nut material loading tool, bury the unified nut of pressing from both sides in getting the material loading tool and bury the water pipe with the nut by manipulator drive nut at last, but present manipulator is mostly the single line operation, its nut buries efficiency lower.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the seven-axis servo system of the automatic nut embedding material taking and feeding manipulator, which can control two groups of manipulators to work simultaneously through the seven-axis servo system, and can finish the work of nut taking, nut embedding, nut detection, nut shearing and the like together through a seven-axis movement method, so that the nut embedding and subsequent processing efficiency can be greatly improved.
In order to solve the technical problems, the invention provides the following technical scheme:
the utility model provides a seven servo systems of automatic material taking and feeding manipulator are buried to nut, includes two sets of mounting brackets, and is two sets of the equal horizontal fixed mounting of top surface of mounting bracket has the fore-and-aft movement axle, and two sets of fore-and-aft movement axle parallel arrangement, two sets of movable mounting has the axle of removing about that can follow the fore-and-aft movement axle back-and-forth movement between the fore-and-aft movement axle, remove the epaxial movable mounting of removal about can following and remove the axle and remove the sliding seat about removing about, remove about and remove on the sliding seat vertical movable mounting have can follow and remove the arm that the sliding seat reciprocated about removing, but the nut that trilateral upset was installed.
As a preferred technical scheme of the invention, one side of the front and rear moving shafts is fixedly provided with a water pipe shearing manipulator, and a water pipe shearing cutter is fixedly arranged on the water pipe shearing manipulator.
As a preferred technical scheme of the invention, the top surface of the front and rear moving shaft is provided with a front and rear moving slide rail, the front and rear moving slide rail is slidably provided with a front and rear moving slide plate, the front and rear moving shaft is provided with a linear motor for driving the front and rear moving slide plate to move front and rear, and two ends of the left and right moving shaft are respectively fixedly arranged on the two front and rear moving slide plates.
As a preferred technical scheme of the present invention, a left-right moving slide rail is disposed on a side surface of the left-right moving shaft, the left-right moving slide seat is slidably mounted on the left-right moving slide rail, and a linear motor for driving the left-right moving slide seat to move left and right is mounted on the left-right moving shaft.
As a preferable technical scheme of the invention, the mechanical arm is slidably mounted on a left-right moving sliding seat through an up-down moving sliding rail, and a linear motor driving the mechanical arm to move up and down is mounted on the left-right moving sliding seat.
According to a preferable technical scheme of the invention, the lower end of the mechanical arm is in rotatable transmission connection with the mechanical finger through a first connecting shaft driven by a first motor, and the mechanical finger is in rotatable transmission connection with the nut embedding detection tool through a second connecting shaft driven by a second motor.
As a preferred technical scheme of the invention, a clamping groove for clamping and adsorbing the water pipe is arranged on the nut embedding detection tool, and an electric ejector rod for ejecting the water pipe is arranged in the clamping groove.
Compared with the prior art, the invention can achieve the following beneficial effects:
the invention is provided with the seven-axis servo system, can control two groups of mechanical arms to work simultaneously through the seven-axis servo system, and can finish the work of nut taking, nut embedding, nut detecting, nut shearing and the like together through a seven-axis motion method, thereby greatly improving the nut embedding and subsequent processing efficiency.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged schematic view of the right side drive configuration of the robot of the present invention;
wherein: 1. a mounting frame; 2. a forward and backward movement shaft; 3. a water pipe shearing manipulator; 4. a left and right movement shaft; 5. a mechanical arm; 6. a mechanical finger; 7. embedding a nut into a detection tool; 8. a water pipe shearing tool; 9. moving the slide rail back and forth; 10. moving the slide plate back and forth; 11. moving the slide rail left and right; 12. the sliding seat moves left and right.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1-2, a seven-axis servo system of a nut-embedded automatic material taking and feeding manipulator comprises two sets of mounting frames 1, wherein front and rear moving shafts 2 are horizontally and fixedly mounted on the top surfaces of the two sets of mounting frames 1, the two sets of front and rear moving shafts 2 are arranged in parallel, a left and right moving shaft 4 capable of moving back and forth along the front and rear moving shafts 2 is movably mounted between the two sets of front and rear moving shafts 2, two sets of left and right moving sliding seats 12 capable of moving left and right along the left and right moving shaft 4 are movably mounted on the left and right moving shaft 4, a mechanical arm 5 capable of moving up and down along the left and right moving sliding seats 12 is vertically movably mounted on the left and right moving sliding seats 12, and a nut-embedded.
One side of the front and rear moving shaft 2 is fixedly provided with a water pipe shearing manipulator 3, and a water pipe shearing cutter 8 is fixedly arranged on the water pipe shearing manipulator 3, so that water pipes processed in rows can be sheared into independent water pipes.
The top surface of the front and rear moving shaft 2 is provided with a front and rear moving slide rail 9, the front and rear moving slide rail 9 is provided with a front and rear moving slide plate 10 in a sliding manner, the front and rear moving shaft 2 is provided with a linear motor for driving the front and rear moving slide plate 10 to move front and rear, two ends of the left and right moving shaft 4 are fixedly arranged on the two front and rear moving slide plates 10 respectively, and the left and right moving shaft 4 can be driven to move.
The side surface of the left and right moving shaft 4 is provided with a left and right moving slide rail 11, a left and right moving slide seat 12 is slidably mounted on the left and right moving slide rail 11, a linear motor for driving the left and right moving slide seat 12 to move left and right is mounted on the left and right moving shaft 4, and the slide seat and the mechanical arm can be driven to move left and right integrally through the linear motor.
The mechanical arm 5 is slidably mounted on the left-right moving sliding seat 12 through an up-down moving sliding rail, a linear motor driving the mechanical arm 5 to move up and down is mounted on the left-right moving sliding seat 12, and the mechanical arm can be driven to move up and down through the linear motor.
The lower extreme of arm 5 is connected through a motor drive's connecting axle and the rotatable transmission of mechanical finger 6, and accessible motor and connecting axle drive mechanical finger and frock tool integral rotation, and mechanical finger 6 buries with the nut through No. two motor drive's connecting axle and detects frock tool 7 rotatable transmission and is connected, and accessible motor and connecting axle drive frock tool rotate on mechanical finger No. two.
The nut buries and detects and install the draw-in groove that is used for clamping the absorption water pipe on the frock tool 7, installs the electronic ejector pin that is used for ejecting water pipe in the draw-in groove, and the accessible draw-in groove adsorbs the water pipe that clamps the embedded nut to conveniently carry detection mechanism through this manipulator with the water pipe and detect, after the detection is accomplished, the ejecting unloading of rethread electronic ejector pin.
The invention is provided with 2X axes (front and back moving axes 2), 2Y axes (mechanical arm 5), 1Z axis (left and right moving axes 4), and a W1 axis (first connecting axis) and a W2 axis (second connecting axis) at the lower end of the mechanical arm, wherein the total number of the axes is 7.
Specifically, when the device is used, 2 linear motors on the X axis drive the front-back moving sliding plate 10 to move on the X axis, so that the Z axis is driven to move back and forth, and the Z axis and the whole mechanical arm are moved back and forth to the position above a nut embedding detection workbench; then a linear motor on the Z axis drives the two left-right moving sliding seats 12 to move left and right on the Z axis, so that the two left-right moving sliding seats 12 and the two Y axes reach the position right above the nut feeding jig; then, two linear motors on the sliding seats 12 which are moved left and right drive two Y axes to move downwards, so that the nut embedded detection tool jig 7 arranged on the mechanical finger 6 reaches the position near the feeding jig, and the nut is clamped by a nut clamp at one side of the nut embedded detection tool jig 7; then, the nut is driven to rotate by the W2 shaft to be embedded into the detection tool jig 7, so that the nut is embedded into the other nut clamp of the detection tool jig 7 to clamp the nut; after the clamping of the nuts is completed, the manipulator is driven to reach the upper part of the water pipe injection molding production equipment through the moving method of the manipulator, and the clamped nuts are embedded into the water pipe through the nut embedding detection tool 7; then, the nut is embedded into a clamping groove on the detection tool jig 7 to adsorb and clamp the water pipe, the nut embedding detection tool jig 7 is turned over by 90 degrees through a W1 shaft, and the nut embedding detection tool jig 7 is used for moving the water pipe to a detection mechanism to detect whether each water pipe is normally embedded; and finally, conveying the finished water pipe products to a shearing manipulator for shearing, and shearing the rows of processed water pipes into independent water pipes.
The embodiments of the present invention are not limited thereto, and according to the above-described embodiments of the present invention, other embodiments obtained by modifying, replacing or combining the above-described preferred embodiments in various other forms without departing from the basic technical idea of the present invention by using the conventional technical knowledge and the conventional means in the field can fall within the scope of the present invention.
Claims (7)
1. A seven-axis servo system of an automatic nut-embedded material taking and feeding manipulator comprises two groups of mounting frames (1), it is characterized in that the top surfaces of the two groups of mounting racks (1) are horizontally and fixedly provided with a front and back moving shaft (2), and two groups of front and rear moving shafts (2) are arranged in parallel, a left and right moving shaft (4) which can move back and forth along the front and rear moving shafts (2) is movably arranged between the two groups of front and rear moving shafts (2), two groups of left-right moving sliding seats (12) which can move left and right along the left-right moving shaft (4) are movably arranged on the left-right moving shaft (4), a mechanical arm (5) which can move up and down along the left-right moving sliding seat (12) is vertically and movably arranged on the left-right moving sliding seat (12), the lower end of the mechanical arm (5) is provided with a nut embedding detection tooling jig (7) capable of turning three sides through a mechanical finger (6).
2. The seven-axis servo system of the nut-embedded automatic material taking and feeding manipulator as claimed in claim 1, wherein a water pipe shearing manipulator (3) is fixedly mounted on one side of the front and rear moving shaft (2), and a water pipe shearing cutter (8) is fixedly mounted on the water pipe shearing manipulator (3).
3. The seven-axis servo system of the nut-embedded automatic picking manipulator according to claim 1, wherein the top surface of the front and rear moving shaft (2) is provided with a front and rear moving slide rail (9), a front and rear moving slide plate (10) is slidably mounted on the front and rear moving slide rail (9), a linear motor for driving the front and rear moving slide plate (10) to move back and forth is mounted on the front and rear moving shaft (2), and two ends of the left and right moving shaft (4) are respectively fixedly mounted on the two front and rear moving slide plates (10).
4. The seven-axis servo system of the nut-embedded automatic picking and feeding manipulator according to claim 1, wherein the side surface of the left and right moving shaft (4) is provided with a left and right moving slide rail (11), the left and right moving slide seat (12) is slidably mounted on the left and right moving slide rail (11), and the left and right moving shaft (4) is provided with a linear motor for driving the left and right moving slide seat (12) to move left and right.
5. The seven-axis servo system of the nut-embedded automatic picking and delivering manipulator according to claim 1, wherein the manipulator (5) is slidably mounted on a left-right moving slide base (12) through an up-down moving slide rail, and a linear motor for driving the manipulator (5) to move up and down is mounted on the left-right moving slide base (12).
6. The seven-axis servo system of the nut embedding automatic picking and feeding manipulator is characterized in that the lower end of the mechanical arm (5) is in rotatable transmission connection with a mechanical finger (6) through a first connecting shaft driven by a first motor, and the mechanical finger (6) is in rotatable transmission connection with a nut embedding detection tool (7) through a second connecting shaft driven by a second motor.
7. The seven-axis servo system of the nut embedding automatic material taking and feeding manipulator as claimed in claim 1, wherein a clamping groove for clamping and adsorbing a water pipe is installed on the nut embedding detection tool (7), and an electric ejector rod for ejecting the water pipe is installed in the clamping groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010924991.8A CN112077829A (en) | 2020-09-06 | 2020-09-06 | Seven-axis servo system of nut-embedded automatic material taking and feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010924991.8A CN112077829A (en) | 2020-09-06 | 2020-09-06 | Seven-axis servo system of nut-embedded automatic material taking and feeding manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112077829A true CN112077829A (en) | 2020-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010924991.8A Pending CN112077829A (en) | 2020-09-06 | 2020-09-06 | Seven-axis servo system of nut-embedded automatic material taking and feeding manipulator |
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| CN (1) | CN112077829A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117778A (en) * | 2023-04-19 | 2023-05-16 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
Citations (9)
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|---|---|---|---|---|
| US4781517A (en) * | 1986-02-03 | 1988-11-01 | Clay-Mill Technical Systems, Inc. | Robotic automobile assembly |
| CN202742612U (en) * | 2012-08-22 | 2013-02-20 | 永高股份有限公司 | Injection molding pipe fitting inserting nut taking-and-sending mechanical arm |
| CN206551425U (en) * | 2017-02-10 | 2017-10-13 | 东莞市航川自动化设备科技有限公司 | A kind of both arms binodal manipulator |
| CN206733522U (en) * | 2017-02-10 | 2017-12-12 | 东莞市正浩信息科技有限公司 | A kind of new mechanical arm |
| CN108908841A (en) * | 2018-06-27 | 2018-11-30 | 安徽台达塑胶科技有限公司 | A kind of interior fully automatic system being embedded to of copper nut mould |
| CN109605666A (en) * | 2018-12-27 | 2019-04-12 | 日进教学器材(昆山)有限公司 | Melamine tooth inserts flush type automatic forming equipment and moulding process |
| CN208773562U (en) * | 2018-09-06 | 2019-04-23 | 深圳市银鑫吉华科技有限公司 | Seven axis efficient electric slide units |
| CN110722804A (en) * | 2019-08-19 | 2020-01-24 | 神通科技集团股份有限公司 | Metal nut implanting machine for plastic products |
| CN111300000A (en) * | 2020-03-15 | 2020-06-19 | 南京慧瞳作物表型组学研究院有限公司 | Bolt and nut automatic feeding device |
-
2020
- 2020-09-06 CN CN202010924991.8A patent/CN112077829A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4781517A (en) * | 1986-02-03 | 1988-11-01 | Clay-Mill Technical Systems, Inc. | Robotic automobile assembly |
| CN202742612U (en) * | 2012-08-22 | 2013-02-20 | 永高股份有限公司 | Injection molding pipe fitting inserting nut taking-and-sending mechanical arm |
| CN206551425U (en) * | 2017-02-10 | 2017-10-13 | 东莞市航川自动化设备科技有限公司 | A kind of both arms binodal manipulator |
| CN206733522U (en) * | 2017-02-10 | 2017-12-12 | 东莞市正浩信息科技有限公司 | A kind of new mechanical arm |
| CN108908841A (en) * | 2018-06-27 | 2018-11-30 | 安徽台达塑胶科技有限公司 | A kind of interior fully automatic system being embedded to of copper nut mould |
| CN208773562U (en) * | 2018-09-06 | 2019-04-23 | 深圳市银鑫吉华科技有限公司 | Seven axis efficient electric slide units |
| CN109605666A (en) * | 2018-12-27 | 2019-04-12 | 日进教学器材(昆山)有限公司 | Melamine tooth inserts flush type automatic forming equipment and moulding process |
| CN110722804A (en) * | 2019-08-19 | 2020-01-24 | 神通科技集团股份有限公司 | Metal nut implanting machine for plastic products |
| CN111300000A (en) * | 2020-03-15 | 2020-06-19 | 南京慧瞳作物表型组学研究院有限公司 | Bolt and nut automatic feeding device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116117778A (en) * | 2023-04-19 | 2023-05-16 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
| CN116117778B (en) * | 2023-04-19 | 2023-06-23 | 常州市巨人机器人科技有限公司 | High-speed heavy-load double-gantry multi-shaft composite truss robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201215 |
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| RJ01 | Rejection of invention patent application after publication |