CN117340865A

CN117340865A - Four-axis truss manipulator device

Info

Publication number: CN117340865A
Application number: CN202311103563.9A
Authority: CN
Inventors: 夏雪刚; 田耀辉
Original assignee: Pinzhan Intelligent Equipment Jiangsu Co ltd
Current assignee: Pinzhan Intelligent Equipment Jiangsu Co ltd
Priority date: 2023-08-30
Filing date: 2023-08-30
Publication date: 2024-01-05

Abstract

The invention discloses a four-axis truss manipulator device which comprises an X-axis beam guide rail, wherein two groups of top walls of the X-axis beam guide rail are respectively provided with a sliding block component, the tops of the two groups of sliding block components are provided with a Y-axis beam, the outer wall of the Y-axis beam is provided with a Y-axis rack, the outer side of the Y-axis rack is in sliding engagement with a drag chain support plate, a Z-axis belt drag chain guide rail is arranged in the drag chain support plate, the bottom of the Z-axis belt drag chain guide rail is provided with a slewing bearing, and the outer side of the slewing bearing is engaged with a gear. This four-axis truss manipulator device adopts four-axis coordinated type design, and the fourth axle passes through rotation supporting mechanism and servo motor cooperation, realizes independent rotation, and on maintaining easy operation's basis, under the unchangeable basically prerequisite of cost, very big reinforcing truss's commonality to alleviate the high problem of work piece initial position location requirement to a certain extent, but the work piece is placed to multistation multi-angle.

Description

Four-axis truss manipulator device

Technical Field

The invention relates to the technical field of machining, in particular to a four-axis truss manipulator device.

Background

The current machining industry often adopts manual or special equipment to feed and discharge materials, but with the progress of social science and technology, the updating iteration speed of machined products is increased, the manual or special equipment gradually falls behind the social development in many aspects, and the situations of low production efficiency, insufficient flexibility, large occupied space cost, large manual labor intensity, serious increase of production cost and the like appear. Therefore, there is an urgent need for the application of high performance truss robots. Truss manipulator is used in the machining industry, and is an important means for improving the degree of automation and reducing the production cost.

The existing walking frame adopts a gantry structure, a Z-direction (up and down) sliding rail, a Y-direction beam, an X-direction sliding rail and an upright post are formed, a servo motor drives a gear and a rack to meet the linear motion in three directions, and the clamping and loosening actions of clamping jaws are matched, so that automatic feeding and discharging are realized:

1. the three-axis portal frame has a single linear motion mode, can only realize the picking and placing of workpieces in one direction, cannot be suitable for workpieces needing special processing (needing rotation angles and the like), and has weak universality;

2. the requirement on the initial position of the workpiece grabbing and placing is high.

In order to solve the problems, the invention designs the four-axis linkage type high-performance walking frame manipulator.

Disclosure of Invention

The invention aims to provide a four-axis truss manipulator device, which solves the problems that the conventional three-axis portal frame provided in the background art has single linear motion mode, can only realize the taking and placing of workpieces in one direction, cannot be suitable for workpieces needing special processing (needing rotation angles and the like), and has weak universality; the problem of higher requirement on the initial position of the workpiece grabbing and placing is solved.

In order to achieve the above purpose, the present invention provides the following technical solutions: the four-axis truss manipulator device comprises an X-axis beam guide rail, two groups of top walls of the X-axis beam guide rail are respectively provided with a sliding block assembly, the tops of the two groups of sliding block assemblies are respectively provided with a Y-axis beam, the outer wall of the Y-axis beam is provided with a Y-axis rack, the outer sides of the Y-axis racks are slidably engaged with a drag chain support plate, the inside of the drag chain support plate is provided with a Z-axis belt drag chain guide rail, the bottom of the Z-axis belt drag chain guide rail is provided with a rotary support bearing, the outer sides of the rotary support bearing are engaged with gears, the upper ends of shaft rods of the gears are connected with C-axis rotary servo motors, the periphery of the bottom of the rotary support bearing is provided with connecting pieces, one side of each connecting piece is vertically provided with a clamping cylinder, the clamping cylinders and the bottoms of the clamping cylinders are respectively provided with clamping jaws, workpieces are clamped on the inner sides, and the input ends of the clamping cylinders and the clamping jaw cylinders are connected with clamping jaw electromagnetic valves for control;

the X-axis motion servo motor is arranged in the X-axis beam guide rail, the X-axis motion servo motor is connected with a bb coupler through a transmission shaft end and is connected with a bearing seat in an extending mode, and the X-axis motion servo motor drives the Y-axis beam to move through gears at two ends of the Y-axis beam.

Further, the Y-axis beam is mounted on the X-axis beam guide rail through a sliding block assembly.

Further, the stand is installed around the bottom of X axle crossbeam guide rail, and stand one side is provided with the switch board.

Furthermore, the top of the drag chain supporting plate is fixedly connected with a lubrication system, and the transmission gear and the rack are continuously lubricated through a special oil pump and an oil pipe.

Further, the Y-axis servo motor is arranged on one side of the drag chain supporting plate and fixedly connected with the Y-axis main supporting plate, and the Y-axis servo motor rotating gear is matched with the Y-axis rack to drive the Z-axis main body to linearly move along the Y-axis direction.

Further, the Z-axis servo motor is arranged on one side of the outer part of the Y-axis servo motor and fixedly connected with the Y-axis main supporting plate.

Further, the X-axis drag chain groove is arranged at the outer side of the X-axis beam guide rail, the X-axis drag chain is arranged at the inner side of the X-axis drag chain groove, and the X-axis drag chain is connected with the Y-axis beam.

Further, the band-type brake mechanism is arranged at the outer side of the drag chain supporting plate.

Further, the workpiece jig is arranged on the inner sides of the upright posts, and the limiting blocks are arranged on the two sides of the Y-axis cross beam.

Compared with the prior art, the invention has the beneficial effects that: this four-axis truss manipulator device adopts mutually supporting between a plurality of mechanisms, and the functional is strong, adopts four-axis linkage formula design, and the fourth axle passes through rotation supporting mechanism and servo motor cooperation, realizes independent rotation, on maintaining easy operation's basis, under the unchangeable basic prerequisite of cost, very big reinforcing truss's commonality to alleviate the high problem of work piece initial position location requirement to a certain extent, but multistation multi-angle places the work piece.

1. According to the invention, the function of adding the mechanical structure is utilized to realize that the workpiece is converted from fixed angle motion to rotatable arbitrary angle motion, the problem of weak universality of the conventional travelling frame manipulator is solved, the control logic is simple, the failure rate is low, the maintenance rate is low, the work of grabbing and holding the workpiece can be stably completed, the work of rotating arbitrary angle and the like is realized, and the travelling frame manipulator has the advantage of stronger universality compared with the common triaxial truss manipulator.

2. According to the invention, the stable movement of the workpiece in the horizontal direction is realized by utilizing the guide rail mechanical mechanism, the stable rotation of the private clothes motor and the assistance of the sliding block component are matched, the rotation torque is converted into the horizontal thrust, the stability in the linear motion is realized, and the transmission parts are lubricated by the lubrication system, so that the service life of the whole manipulator is prolonged, and the friction resistance encountered in the position adjustment is reduced.

Drawings

FIG. 1 is a schematic top view of a four-axis truss manipulator apparatus according to the present invention;

FIG. 2 is a schematic front view of a four-axis truss manipulator apparatus according to the present invention;

fig. 3 is a schematic diagram of a partial enlarged structure of the part F in fig. 2 of the four-axis truss manipulator device according to the present invention.

In the figure: 1. a Y-axis servo motor; 2. a Z-axis servo motor; 3. a workpiece fixture; 4. a Y-axis beam; 5. a band-type brake mechanism; 6. an X-axis drag chain groove; 7. an X-axis drag chain; 8. a lubrication system; 9. z-axis belt drag chain guide rail; 10. an X-axis beam guide rail; 11. a tow chain support plate; 12. an X-axis motion servo motor; 13. bb a coupling; 14. a bearing seat; 15. a limiting block; 16. a C-axis rotary servo motor; 17. a gear; 18. a clamping cylinder; 19. a clamping jaw; 20. a workpiece; 21. a slewing bearing; 22. a clamping jaw cylinder; 23. a cylinder electromagnetic valve; 24. a connecting piece; 25. a Y-axis rack; 26. a power distribution cabinet; 27. a slider assembly; 28. and (5) a column.

Detailed Description

In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1-3, the present invention provides a technical solution: the four-axis truss manipulator device comprises an X-axis beam guide rail 10, two groups of top walls of the X-axis beam guide rail 10 are respectively provided with a sliding block assembly 27, a Y-axis beam 4 is arranged at the top of each group of sliding block assemblies 27, a Y-axis rack 25 is arranged on the outer wall of each Y-axis beam 4, a drag chain supporting plate 11 is slidingly engaged with the outer side of each Y-axis rack 25, a Z-axis belt drag chain guide rail 9 is assembled in each drag chain supporting plate 11, a rotary support bearing 21 is arranged at the bottom of each Z-axis belt drag chain guide rail 9, a gear 17 is engaged with the outer side of each rotary support bearing 21, the upper end of a shaft rod of each gear 17 is connected with a C-axis rotary servo motor 16, a connecting piece 24 is arranged at the periphery of the bottom of each rotary support bearing 21, a clamping cylinder 18 is vertically arranged at one side of each connecting piece 24, clamping jaw cylinders 22 are vertically arranged at the other opposite sides of each clamping jaw cylinder 18 and each clamping jaw cylinder 22, workpieces 20 are clamped at the inner sides of the clamping jaw cylinders 19, and input ends of the clamping jaw cylinders 18 and the clamping jaw cylinders 22 are connected with electromagnetic valves 23 for control; the X-axis motion servo motor 12 is arranged in the X-axis beam guide rail 10, the X-axis motion servo motor 12 is connected with a bb coupler 13 through a transmission shaft end and is connected with a bearing seat 14 in an extending way, and the X-axis motion servo motor 12 drives the Y-axis beam 4 to move through gears at two ends of the Y-axis beam; the Y-axis beam 4 is mounted on the X-axis beam guide rail 10 through a sliding block assembly 27; the periphery of the bottom of the X-axis beam guide rail 10 is provided with upright posts 28, and one side of each upright post 28 is provided with a power distribution cabinet 26; the top of the drag chain supporting plate 11 is fixedly connected with a lubrication system 8, and continuously lubricates the transmission gear and the rack through a special oil pump and an oil pipe; the Y-axis servo motor 1 is arranged on one side of the drag chain supporting plate 11 and fixedly connected with the Y-axis main supporting plate, and a rotating gear of the Y-axis servo motor 1 is matched with the Y-axis rack 25 to drive the Z-axis main body to linearly move along the Y-axis direction; the Z-axis servo motor 2 is arranged on one side of the outer part of the Y-axis servo motor 1 and fixedly connected with the Y-axis main supporting plate; the X-axis drag chain groove 6 is arranged at the outer side of the X-axis beam guide rail 10, the X-axis drag chain 7 is arranged at the inner side of the X-axis drag chain groove 6, and the X-axis drag chain 7 is connected with the Y-axis beam 4; the band-type brake mechanism 5 is arranged at the outer side of the drag chain supporting plate 11; the workpiece fixture 3 is arranged on the inner sides of the plurality of groups of upright posts 28;

the Y-axis servo motor 1 is fixedly connected with the Y-axis main supporting plate, and a servo motor rotating gear is matched with the Y-axis rack 25 to drive the Z-axis main body to linearly move along the Y-axis direction; the Z-axis servo motor 2 is arranged on the Y-axis main supporting plate, the motor rotates a gear to drive the clamping jaw to move up and down linearly along the Z-axis direction, the band-type brake mechanism 5 is arranged on the Z-axis supporting plate, and the clamping jaw can be braked in time in the up-and-down movement process; the workpiece fixture 3 is installed and positioned according to the requirements, the Y-axis beam 4 is installed on the X-axis beam guide rail 10 through the sliding block assembly 27, the X-axis drag chain 7 is connected with the Y-axis beam, and the main body moves in the X-axis drag chain groove 6; the X-axis motion servo motor 12 is arranged on the Y-axis beam 4 and connected with a transmission shaft and a coupler 13, and the servo motor drives the transmission shaft to transmit power to gears at two ends of the Y-axis beam through the coupler 13 and a bearing seat 14 so as to drive the Y-axis beam to move linearly left and right along the X-axis direction; the lubrication system 8 is fixedly connected with the drag chain supporting plate 11, and continuously lubricates the transmission gear and the rack through a special oil pump and an oil pipe; the Z-axis belt drag chain guide rail 9 is fixedly connected with the drag chain support plate 11, the drag chain moves up and down in the Z-axis belt drag chain guide rail groove, and limiting blocks 15 are arranged on each shaft cross beam to avoid the over-travel operation of the manipulator; the C-axis rotary servo motor 16 is fixedly connected with the Z-axis bottom plate, and the rotary gear 17 drives the rotary support bearing 21 to rotate; the clamping cylinder 18, the clamping jaw cylinder 22 and the clamping jaw 19 jointly form a workpiece clamping jaw, the cylinder electromagnetic valve 23 drives the clamping jaw cylinder to act to clamp the workpiece 20, the X-axis cross beam is arranged on the upright post 28, and the bottom of the upright post is provided with a height adjusting screw rod to ensure the levelness and the verticality of the truss; the whole truss manipulator is controlled to run through a PLC, and a control system is arranged in the equipment power distribution cabinet 26;

the four-axis linkage type design is adopted, the fourth axis is matched with the servo motor through the rotary supporting mechanism, independent rotation is realized, on the premise that the cost is basically unchanged on the basis of maintaining simplicity in operation, the universality of the truss is greatly enhanced, the problem of high positioning requirement of the initial position of a workpiece is relieved to a certain extent, and the workpiece can be placed at multiple positions and angles;

the workpiece is converted from fixed angle motion to rotatable arbitrary angle motion by utilizing the function added by the mechanical structure, the problem of weak universality of the conventional travelling crane manipulator is solved, the control logic is simple, the failure rate is low, the maintenance rate is low, the grabbing and taking of the workpiece can be stably completed, the work such as rotating arbitrary angle and the like can be completed, and the travelling crane manipulator has the advantage of stronger universality compared with the common triaxial truss manipulator;

according to the invention, the gear is driven by the servo motor to make linear motion in cooperation with the rack, and other forms of linear motion can be realized by driving the screw rod by the motor;

the invention adopts the servo motor to drive the slewing bearing to realize the rotation function, and other forms of belt pulleys or chain wheels can also realize the rotation function through the motor.

In summary, when the four-axis truss manipulator device is used, firstly a workpiece 20 is positioned on a jig 3, an X-axis motion servo motor 12 rotates positively, a Y-axis beam moves in the X+ direction and stops moving above the workpiece, a Y-axis servo motor 1 rotates reversely, a Z-axis integrally moves to the right above the workpiece, a Z-axis servo motor 2 rotates reversely, a C-axis clamping jaw moves to the Z-direction, a C-axis servo motor rotates synchronously positively to a grabbing position, and a clamping cylinder 18 and a clamping jaw cylinder 22 drive two groups of clamping jaws 19 to clamp and grab the workpiece under the control of a PLC program and the action of a cylinder electromagnetic valve 23; the Z-axis servo motor rotates positively, the Z-axis integrally moves to a designated height in the Z+ direction, the Y-axis servo motor rotates positively, the Z-axis main body moves in the Y+ direction, the X-axis movement servo motor rotates reversely synchronously, the Y-axis cross beam integrally moves to the upper part of a discharging machine tool/processing station in the X-direction, the Z-axis servo motor rotates reversely, the C-axis clamping jaw moves to a discharging position in the Z-direction, the C-axis rotation servo motor rotates reversely to a designated angle, the cylinder electromagnetic valve acts, the clamping jaw cylinder drives the clamping jaw to loosen the workpiece, and after the machining is finished, the manipulator grabs the workpiece to place a machined area according to similar steps.

It is to be understood that the above embodiments are merely illustrative of the application of the principles of the present invention, but not in limitation thereof. Various modifications and improvements may be made by those skilled in the art without departing from the spirit and substance of the invention, and are also considered to be within the scope of the invention.

Claims

1. The four-axis truss manipulator device comprises an X-axis beam guide rail (10), and is characterized in that two groups of top walls comprising the X-axis beam guide rail (10) are provided with a sliding block assembly (27), and two groups of top walls of the sliding block assembly (27) are provided with a Y-axis beam (4), the outer wall of the Y-axis beam (4) is provided with a Y-axis rack (25), the outer side of the Y-axis rack (25) is slidingly engaged with a drag chain support plate (11), a Z-axis belt drag chain guide rail (9) is assembled in the drag chain support plate (11), the bottom of the Z-axis belt drag chain guide rail (9) is provided with a rotary support bearing (21), the outer side of the rotary support bearing (21) is engaged with a gear (17), the upper end of a shaft rod of the gear (17) is connected with a C-axis rotary servo motor (16), the periphery of the bottom of the rotary support bearing (21) is provided with a connecting piece (24), one side of the connecting piece (24) is vertically provided with a clamping cylinder (18), the other opposite side of the connecting piece (24) is vertically provided with a cylinder (22), the clamping jaws (19) are both the inner sides of the clamping cylinder (19), the input ends of the clamping and grabbing air cylinder (18) and the clamping jaw air cylinder (22) are connected with an air cylinder electromagnetic valve (23) for control;

the X-axis motion servo motor (12) is arranged in the X-axis beam guide rail (10), the X-axis motion servo motor (12) is connected with a bb coupler (13) through a transmission shaft end and is connected with a bearing seat (14) in an extending mode, and the X-axis motion servo motor (12) drives the Y-axis beam (4) to move through gears at two ends of the Y-axis beam.

2. The four-axis truss manipulator device according to claim 1, wherein: the Y-axis beam (4) is mounted on the X-axis beam guide rail (10) through a sliding block assembly (27).

3. The four-axis truss manipulator device according to claim 1, wherein: the X-axis beam guide rail is characterized in that upright posts (28) are arranged around the bottom of the X-axis beam guide rail (10), and a power distribution cabinet (26) is arranged on one side of each upright post (28).

4. The four-axis truss manipulator device according to claim 1, wherein: the top of the drag chain supporting plate (11) is fixedly connected with a lubricating system (8), and the transmission gear and the rack are continuously lubricated through a special oil pump and an oil pipe.

5. The four-axis truss manipulator device according to claim 1, wherein: the Y-axis servo motor (1) is arranged on one side of the drag chain supporting plate (11) and fixedly connected with the Y-axis main supporting plate, and the Y-axis servo motor (1) rotates a gear to be matched with the Y-axis rack (25) to drive the Z-axis main body to linearly move along the Y-axis direction.

6. The four-axis truss manipulator device according to claim 5, wherein: the Z-axis servo motor (2) is arranged on one side of the outer part of the Y-axis servo motor (1) and fixedly connected with the Y-axis main supporting plate.

7. The four-axis truss manipulator device according to claim 1, wherein: the X-axis drag chain groove (6) is arranged at the outer side of the X-axis beam guide rail (10), the X-axis drag chain (7) is arranged at the inner side of the X-axis drag chain groove (6), and the X-axis drag chain (7) is connected with the Y-axis beam (4).

8. The four-axis truss manipulator device according to claim 1, wherein: the band-type brake mechanism (5) is arranged at the outer side of the drag chain supporting plate (11).

9. A four-axis truss manipulator device according to claim 3, wherein: the workpiece jig (3) is arranged on the inner sides of the upright posts (28), and the limiting blocks (15) are arranged on the two sides of the Y-axis cross beam (4).