CN204505263U - Three-D feeding mechanical hand - Google Patents
Three-D feeding mechanical hand Download PDFInfo
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- CN204505263U CN204505263U CN201520130130.7U CN201520130130U CN204505263U CN 204505263 U CN204505263 U CN 204505263U CN 201520130130 U CN201520130130 U CN 201520130130U CN 204505263 U CN204505263 U CN 204505263U
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Abstract
本实用新型提供了一种三次元送料机械手,包括机架、控制装置、驱动执行装置以及末端执行器,所述控制装置与所述驱动执行装置均安装在所述机架上,所述控制装置与所述驱动执行装置电连接,所述末端执行器安装在所述驱动执行装置上,所述控制装置控制所述驱动执行装置带动所述末端执行器分别沿X方向、Y方向与Z方向运动;其中,所述末端执行器包括平行设置的两个机械臂以及对应设置在所述机械臂上的夹爪;所述驱动执行装置包括X方向驱动组件、Y方向驱动组件和Z方向驱动组件,以实现X轴方向、Y轴方向和Z轴方向三轴联动输送工件,保证产品的品质,提高生产效率、降低生产成本。
The utility model provides a three-dimensional feeding manipulator, which includes a frame, a control device, a driving execution device and an end effector, the control device and the driving execution device are installed on the frame, and the control device It is electrically connected with the driving execution device, the end effector is installed on the driving execution device, and the control device controls the driving execution device to drive the end effector to move along the X direction, the Y direction and the Z direction respectively ; Wherein, the end effector includes two mechanical arms arranged in parallel and jaws correspondingly arranged on the mechanical arms; the driving execution device includes an X-direction driving assembly, a Y-direction driving assembly and a Z-direction driving assembly, In order to realize the three-axis linkage transportation of workpieces in the X-axis direction, Y-axis direction and Z-axis direction, the quality of the product is guaranteed, the production efficiency is improved, and the production cost is reduced.
Description
技术领域technical field
本实用新型涉及送料设备领域,特别是涉及一种多工位送料机械手的三次元送料机械手。The utility model relates to the field of feeding equipment, in particular to a three-dimensional feeding manipulator of a multi-station feeding manipulator.
背景技术Background technique
在当今的工业发展,自动化已经应用到各个领域。随着人工劳动成本的增加,用机器人替换人工的现象已经越来越普遍。在科技的推动下,工业机器人已经如火如荼的应用到各个行业,通过模仿人的手关节、臂关节的动作进行作业。通过用机器人替换人工的方式减少了人工作业繁重重复的劳动,减少了在生产加工过程中出现的安全事故。机械手属于工业机器人的一种,已经广泛应用到制造业、医疗、航空航天、电子等行业。In today's industrial development, automation has been applied to various fields. With the increase of labor costs, the phenomenon of replacing labor with robots has become more and more common. Driven by science and technology, industrial robots have been applied to various industries in full swing, operating by imitating the movements of human hand joints and arm joints. By replacing the labor with robots, the heavy and repetitive labor of manual work is reduced, and the safety accidents in the production and processing process are reduced. The manipulator is a kind of industrial robot, which has been widely used in manufacturing, medical, aerospace, electronics and other industries.
目前,一些汽车零部件的工厂的生产模式还以单冲床、单送料设备为主,甚至有一些工厂还在以人工作业。落后的工业生产设备,导致废品率高、产量低下以及劳动力不足的现象。随着工业化程度的越来越高,传统的生产工艺已经不能满足市场需求。而现有的机械手也存在机械结构过于复杂、生产率较低、产品品质不稳定、达不到高速高精的送料的要求等问题,不利于满足工厂生产的自动化需求。At present, the production mode of some auto parts factories is still dominated by single punching machines and single feeding equipment, and some factories are still working manually. Outdated industrial production equipment leads to high scrap rate, low output and insufficient labor force. With the increasing degree of industrialization, the traditional production process can no longer meet the market demand. However, existing manipulators also have problems such as overly complex mechanical structure, low productivity, unstable product quality, and failure to meet the requirements of high-speed and high-precision feeding, which is not conducive to meeting the automation needs of factory production.
实用新型内容Utility model content
基于此,有必要针对现有的机械手的结构复杂、送料的精度与速度不高、生产效率较低的问题,提供一种能够简化结构、提高送料的精度与速度、提高生产效率的三次元送料机械手。Based on this, it is necessary to provide a three-dimensional feeding that can simplify the structure, improve the accuracy and speed of feeding, and improve production efficiency in view of the problems of the existing manipulator with complex structure, low feeding accuracy and speed, and low production efficiency. manipulator.
上述目的通过下述技术方案实现:Above-mentioned purpose realizes through following technical scheme:
一种三次元送料机械手,包括机架、控制装置、驱动执行装置以及末端执行器,所述控制装置与所述驱动执行装置均安装在所述机架上,所述控制装置与所述驱动执行装置电连接,所述末端执行器安装在所述驱动执行装置上,所述控制装置控制所述驱动执行装置带动所述末端执行器分别沿X轴方向、Y轴方向与Z轴方向运动;A three-dimensional feeding manipulator, including a frame, a control device, a drive execution device and an end effector, the control device and the drive execution device are installed on the frame, the control device and the drive execution device The device is electrically connected, the end effector is installed on the driving execution device, and the control device controls the driving execution device to drive the end effector to move along the X-axis direction, the Y-axis direction and the Z-axis direction respectively;
其中,所述末端执行器包括平行设置的两个机械臂以及对应设置在所述机械臂上的夹爪,所述机械臂沿X轴方向设置,所述X方向驱动组件的输出端与所述机械臂的端部连接,所述Y方向驱动组件的输出端与所述机械臂连接;Wherein, the end effector includes two mechanical arms arranged in parallel and jaws correspondingly arranged on the mechanical arms, the mechanical arms are arranged along the X-axis direction, and the output end of the X-direction driving assembly is connected to the The end of the mechanical arm is connected, and the output end of the Y-direction drive assembly is connected to the mechanical arm;
所述驱动执行装置包括X方向驱动组件、Y方向驱动组件和Z方向驱动组件,所述X方向驱动组件带动所述机械臂沿X轴方向运动,所述Y方向驱动组件带动所述机械臂相互靠近或者相互远离,所述Z方向驱动组件带动所述机械臂沿Z轴方向同步运动。The drive execution device includes an X-direction drive assembly, a Y-direction drive assembly, and a Z-direction drive assembly, the X-direction drive assembly drives the mechanical arm to move along the X-axis direction, and the Y-direction drive assembly drives the mechanical arm to move Approaching or moving away from each other, the Z-direction driving assembly drives the mechanical arm to move synchronously along the Z-axis direction.
在其中一个实施例中,所述X方向驱动组件包括X方向伺服电机、X方向传动机构、X方向滑块固定板、导柱和连接板,所述X方向伺服电机的输出端与所述X方向传动机构连接,所述X方向传动机构与所述X方向滑块固定板连接,所述导柱沿Z轴方向安装在X方向滑块固定板上,所述导柱通过所述连接板与所述机械臂的一端连接。In one of the embodiments, the X-direction drive assembly includes an X-direction servo motor, an X-direction transmission mechanism, an X-direction slider fixing plate, a guide post and a connecting plate, and the output end of the X-direction servo motor is connected to the X-direction drive assembly. direction transmission mechanism, the X direction transmission mechanism is connected with the X direction slider fixing plate, the guide column is installed on the X direction slider fixing plate along the Z axis direction, and the guide column is connected with the X direction slider fixing plate through the connecting plate. One end of the mechanical arm is connected.
在其中一个实施例中,所述X方向驱动组件还包括X方向滑轨和X方向滑块,所述X方向滑轨沿X轴方向平行设置在所述机架上,所述X方向滑块的一端安装在所述X方向滑块固定板上,所述X方向滑块的另一端分别安装在所述X方向滑轨上。In one of the embodiments, the X-direction drive assembly further includes an X-direction slide rail and an X-direction slide block, the X-direction slide rail is arranged parallel to the X-axis direction on the frame, and the X-direction slide block One end of the X-direction slider is installed on the fixed plate of the X-direction slider, and the other end of the X-direction slider is respectively installed on the X-direction slide rails.
在其中一个实施例中,所述X方向驱动组件还包括端部直线轴承,所述连接板通过所述端部直线轴承安装在所述导柱上。In one embodiment, the X-direction drive assembly further includes an end linear bearing, and the connecting plate is mounted on the guide post through the end linear bearing.
在其中一个实施例中,所述X方向传动机构包括X方向滚珠丝杆、X方向丝杆固定座和X方向丝杆螺母,所述X方向伺服电机的输出端与所述X方向滚珠丝杆连接,所述X方向滚珠丝杆通过所述X方向丝杆固定座安装在所述机架上,所述X方向丝杆螺母套装在所述X方向滚珠丝杆上,所述X方向丝杆螺母沿所述X方向滚珠丝杆运动,所述X方向丝杆螺母上安装所述X方向滑块固定板。In one embodiment, the X-direction transmission mechanism includes an X-direction ball screw, an X-direction screw fixing seat and an X-direction screw nut, and the output end of the X-direction servo motor is connected to the X-direction ball screw. connected, the X-direction ball screw is mounted on the frame through the X-direction screw holder, the X-direction screw nut is set on the X-direction ball screw, and the X-direction screw The nut moves along the X-direction ball screw, and the X-direction slider fixing plate is installed on the X-direction screw nut.
在其中一个实施例中,所述三次元送料机械手还包括移动平台,所述Y方向驱动组件和所述Z方向驱动组件通过所述移动平台带动所述机械臂运动;In one of the embodiments, the three-dimensional feeding manipulator further includes a mobile platform, and the Y-direction driving assembly and the Z-direction driving assembly drive the mechanical arm to move through the mobile platform;
所述移动平台包括移动平台滑轨固定板、移动平台滑轨、移动平台滑块和移动平台滑块固定板,所述移动平台滑轨平行设置在所述移动平台滑轨固定板上,且所述移动平台滑轨与所述机械臂平行,所述移动平台滑块的一端安装在所述移动平台滑块固定板上,所述移动平台滑块的另一端安装在所述移动平台滑轨上,所述移动平台滑轨固定板安装在所述机械臂上,所述移动平台滑块固定板安装在所述Y方向驱动组件上。The mobile platform includes a mobile platform slide rail fixing plate, a mobile platform slide rail, a mobile platform slider and a mobile platform slider fixing plate, the mobile platform slide rails are arranged on the mobile platform slide rail fixing plate in parallel, and the The sliding rail of the mobile platform is parallel to the mechanical arm, one end of the sliding block of the mobile platform is installed on the fixed plate of the sliding block of the mobile platform, and the other end of the sliding block of the mobile platform is installed on the sliding rail of the mobile platform , the moving platform slide rail fixing plate is installed on the mechanical arm, and the moving platform slider fixing plate is installed on the Y direction driving assembly.
在其中一个实施例中,所述Y方向驱动组件的数量为两个,两个所述Y方向驱动组件分别位于所述机械臂的下方;In one of the embodiments, the number of the Y-direction drive assemblies is two, and the two Y-direction drive assemblies are respectively located under the mechanical arm;
所述Y方向驱动组件包括Y方向伺服电机、Y方向传动机构、导向轴和万向轴承,所述Y方向伺服电机的输出端与所述Y方向传动机构连接,所述导向轴的一端安装在所述Y方向传动机构上,所述导向轴的另一端通过所述万向轴承安装在所述移动平台滑块固定板上。The Y-direction drive assembly includes a Y-direction servo motor, a Y-direction transmission mechanism, a guide shaft and a universal bearing, the output end of the Y-direction servo motor is connected to the Y-direction transmission mechanism, and one end of the guide shaft is installed on On the Y-direction transmission mechanism, the other end of the guide shaft is mounted on the slider fixing plate of the mobile platform through the universal bearing.
在其中一个实施例中,所述Y方向传动机构包括Y方向滚珠丝杆、Y方向丝杆螺母、光轴、法兰直线轴承和螺母直线轴承固定座,所述Y方向伺服电机的输出端与所述Y方向滚珠丝杆连接,所述Y方向滚珠丝杆沿Y轴方向设置,所述Y方向滚珠丝杆与所述光轴平行设置,且所述光轴分别安装在所述Y方向滚珠丝杆的两侧,所述Y方向滚珠丝杆垂直于所述机械臂,所述Y方向滚珠丝杆与所述光轴分别穿过所述螺母直线轴承固定座,且所述Y方向滚珠丝杆的两端分别通过Y方向丝杆固定座固定在所述机架上,所述光轴的两端分别通过光轴固定座固定在所述机架上。In one of the embodiments, the Y-direction transmission mechanism includes a Y-direction ball screw, a Y-direction screw nut, an optical shaft, a flange linear bearing and a nut linear bearing holder, and the output end of the Y-direction servo motor is connected to The Y-direction ball screw is connected, the Y-direction ball screw is arranged along the Y-axis direction, the Y-direction ball screw is arranged parallel to the optical axis, and the optical axes are respectively installed on the Y-direction ball On both sides of the screw rod, the Y-direction ball screw is perpendicular to the mechanical arm, the Y-direction ball screw and the optical axis respectively pass through the nut linear bearing fixing seat, and the Y-direction ball screw The two ends of the rod are respectively fixed on the frame through the Y-direction screw fixing seat, and the two ends of the optical axis are respectively fixed on the frame through the optical axis fixing seat.
在其中一个实施例中,所述Y方向驱动组件还包括Y方向第一滑轨和Y方向第一滑块,所述Y方向第一滑轨沿Y轴方向设置,所述Y方向第一滑轨安装在所述Z方向驱动组件上,所述Y方向第一滑块的一端安装在所述Y方向第一滑轨上,所述Y方向第一滑块的另一端与所述螺母直线轴承固定座连接。In one of the embodiments, the drive assembly in the Y direction further includes a first slide rail in the Y direction and a first slide block in the Y direction, the first slide rail in the Y direction is arranged along the direction of the Y axis, and the first slide rail in the Y direction The rail is installed on the drive assembly in the Z direction, one end of the first slider in the Y direction is installed on the first slide rail in the Y direction, and the other end of the first slider in the Y direction is connected to the nut linear bearing Mount connection.
在其中一个实施例中,所述Y方向驱动组件还包括Y方向第二滑轨和Y方向第二滑块,所述Y方向第二滑轨沿Y轴方向设置,所述Y方向第二滑轨固定在所述X方向滑块固定板上,所述Y方向第二滑块的一端安装在所述Y方向第二滑轨上,所述Y方向第二滑块的另一端安装在所述导柱上。In one of the embodiments, the drive assembly in the Y direction further includes a second slide rail in the Y direction and a second slide block in the Y direction, the second slide rail in the Y direction is arranged along the Y axis, and the second slide rail in the Y direction The rail is fixed on the X-direction slider fixing plate, one end of the Y-direction second slider is installed on the Y-direction second slide rail, and the other end of the Y-direction second slider is installed on the Y-direction second slider. on the guide post.
在其中一个实施例中,所述Z方向驱动组件的数量为两个,两个所述Z方向驱动组件分别安装在所述Y方向驱动组件的下方;In one of the embodiments, the number of the Z-direction drive assemblies is two, and the two Z-direction drive assemblies are respectively installed below the Y-direction drive assemblies;
所述Z方向驱动组件包括Z方向伺服电机、Z方向传动机构和Z方向滑块固定板,所述Z方向伺服电机的输出端与所述Z方向传动机构连接,所述Z方向传动机构与所述Z方向滑块固定板连接。The Z-direction driving assembly includes a Z-direction servo motor, a Z-direction transmission mechanism and a Z-direction slider fixing plate, the output end of the Z-direction servo motor is connected to the Z-direction transmission mechanism, and the Z-direction transmission mechanism is connected to the Z-direction transmission mechanism. The Z-direction slider fixed plate is connected.
在其中一个实施例中,所述Z方向驱动组件还包括Z方向滑轨和Z方向滑块,Z方向滑轨沿Z轴方向设置在所述机架上,所述Z方向滑块的一端安装在所述Z方向滑块固定板上,所述Z方向滑块的另一端安装在Z方向滑轨上。In one of the embodiments, the Z-direction drive assembly further includes a Z-direction slide rail and a Z-direction slide block, the Z-direction slide rail is arranged on the frame along the Z-axis direction, and one end of the Z-direction slide block is installed On the Z-direction slider fixing plate, the other end of the Z-direction slider is installed on the Z-direction slide rail.
在其中一个实施例中,所述Z方向传动机构包括Z方向丝杆固定座、Z方向滚珠丝杆和Z方向丝杆螺母,所述Z方向伺服电机的输出端与所述Z方向滚珠丝杆连接,所述Z方向滚珠丝杆通过所述Z方向丝杆固定座固定在所述机架上,所述Z方向丝杆螺母套装在所述Z方向滚珠丝杆上,所述Z方向丝杆沿所述Z方向滚珠丝杆运动,所述Z方向丝杆螺母上安装所述Z方向滑块固定板。In one of the embodiments, the Z-direction transmission mechanism includes a Z-direction screw fixing seat, a Z-direction ball screw and a Z-direction screw nut, and the output end of the Z-direction servo motor is connected to the Z-direction ball screw. connected, the Z-direction ball screw is fixed on the frame through the Z-direction screw holder, the Z-direction screw nut is set on the Z-direction ball screw, and the Z-direction screw The ball screw moves along the Z direction, and the Z direction slider fixing plate is installed on the Z direction screw nut.
在其中一个实施例中,所述三次元送料机械手还包括检测装置,所述检测装置安装在所述机架上,所述控制装置与所述检测装置电连接。In one embodiment, the three-dimensional feeding manipulator further includes a detection device, the detection device is installed on the frame, and the control device is electrically connected to the detection device.
在其中一个实施例中,所述三次元送料机械手还包括循环装置,所述循环装置位于所述机械臂的下方,所述控制装置与所述循环装置电连接;In one of the embodiments, the three-dimensional feeding manipulator further includes a circulation device, the circulation device is located under the mechanical arm, and the control device is electrically connected to the circulation device;
所述循环装置包括循环电机、循环皮带轮、传送带、导引轴、升降气缸和气缸连接顶杆,所述循环电机安装在所述机架上,所述循环皮带轮分别安装在所述机架上,且所述循环皮带轮的连线平行于所述机械臂,所述传送带套装在所述循环皮带轮上,所述导引轴安装在所述传送带的两侧,所述升降气缸固定在所述机架上,所述升降气缸的端部安装所述气缸连接顶杆,所述气缸连接顶杆通过支撑固定板连接所述导引轴。The circulation device includes a circulation motor, a circulation pulley, a conveyor belt, a guide shaft, a lifting cylinder and a cylinder connecting push rod, the circulation motor is installed on the frame, and the circulation pulleys are respectively installed on the frame, And the connection line of the endless pulley is parallel to the mechanical arm, the conveyor belt is set on the endless pulley, the guide shaft is installed on both sides of the conveyor belt, and the lifting cylinder is fixed on the frame Above, the end of the lifting cylinder is installed with the cylinder connecting jack rod, and the cylinder connecting jack rod is connected to the guide shaft through a support fixing plate.
在其中一个实施例中,所述夹爪包括翻转夹爪和普通夹爪。In one of the embodiments, the jaws include flipped jaws and common jaws.
在其中一个实施例中,所述驱动执行装置还包括限位牛筋接近开关,所述限位牛筋接近开关分别设置在所述X方向滑轨的两端、所述移动平台滑轨的两端、所述Y方向第一滑轨的两端、所述Y方向第二滑轨的两端和所述Z方向滑轨的两端。In one of the embodiments, the drive execution device further includes limit beef tendon proximity switches, and the limit beef tendon proximity switches are respectively arranged at both ends of the X-direction slide rail and at both ends of the mobile platform slide rail. end, the two ends of the first slide rail in the Y direction, the two ends of the second slide rail in the Y direction, and the two ends of the Z direction slide rail.
本实用新型的有益效果是:The beneficial effects of the utility model are:
本实用新型的三次元送料机械手,结构设计简单合理,通过控制装置控制驱动执行装置带动末端执行器进行输送工件,结构紧凑,末端执行器的机械臂平行设置,驱动执行装置中的X方向驱动组件、Y方向驱动组件和Z方向驱动组件共同作用带动机械臂运动,实现机械臂在水平方向上夹取与松开工件、沿平行于机械臂的方向移动,在竖直方向上升降,机械臂上的夹爪夹取工件,并通过X方向驱动组件、Y方向驱动组件和Z方向驱动组件带动机械臂将工件输送至指定位置,实现X轴方向、Y轴方向和Z轴方向三轴联动,高速、高精度输送工件,保证产品的品质,提高生产效率、降低生产成本。The three-dimensional feeding manipulator of the utility model has a simple and reasonable structural design, and the control device drives the actuator to drive the end effector to transport the workpiece. , The Y-direction driving component and the Z-direction driving component work together to drive the movement of the mechanical arm, so that the mechanical arm can clamp and loosen the workpiece in the horizontal direction, move in a direction parallel to the mechanical arm, and lift in the vertical direction. The grippers pick up the workpiece, and drive the mechanical arm to transport the workpiece to the designated position through the X-direction drive assembly, Y-direction drive assembly and Z-direction drive assembly, realizing three-axis linkage in the X-axis direction, Y-axis direction and Z-axis direction, high speed , High-precision conveying workpieces, ensuring product quality, improving production efficiency and reducing production costs.
附图说明Description of drawings
图1为本实用新型一实施例的三次元送料机械手的主视图;Fig. 1 is a front view of a three-dimensional feeding manipulator according to an embodiment of the present invention;
图2为图1所示的三次元送料机械手中驱动执行装置、末端执行装置和循环装置的立体图;Fig. 2 is a perspective view of the driving actuator, end effector and circulation device in the three-dimensional feeding manipulator shown in Fig. 1;
图3为图1所示的三次元送料机械手中驱动执行装置、末端执行装置的局部示意图;Fig. 3 is a partial schematic diagram of the driving actuator and the end effector in the three-dimensional feeding manipulator shown in Fig. 1;
图4为图3所示的驱动执行装置、末端执行装置的一个局部示意图;Fig. 4 is a partial schematic diagram of the driving actuator and the end effector shown in Fig. 3;
图5为图3所示的驱动执行装置、末端执行装置的另一局部示意图;Fig. 5 is another partial schematic diagram of the driving actuator and the end effector shown in Fig. 3;
图6为图2所示循环装置的立体图;Fig. 6 is a perspective view of the circulation device shown in Fig. 2;
其中:in:
100-机架;100-rack;
200-驱动执行装置;200-drive actuator;
210-X方向驱动组件;211-X方向伺服电机;212-X方向滑块固定板;213-X方向滑轨;214-X方向滑块;215-导柱;216-连接板;217-X方向滚珠丝杆;218-X方向丝杆固定座;219-X方向丝杆螺母;221-滑轨挡板;222-移动平台滑块固定板;223-移动平台滑轨;224-移动平台滑块;225-X方向滑轨固定板;226-端部直线轴承;227-顶板;210-X direction drive assembly; 211-X direction servo motor; 212-X direction slider fixing plate; 213-X direction slide rail; 214-X direction slider; Direction ball screw; 218-X direction screw fixing seat; 219-X direction screw nut; 221-rail baffle; 222-mobile platform slider fixed plate; block; 225-X direction slide rail fixing plate; 226-end linear bearing; 227-top plate;
240-Y方向驱动组件;241-Y方向伺服电机;242-Y方向电机机座;243-Y方向第一滑轨;244-Y方向第一滑块;245-导向轴;246-万向轴承;247-Y方向滚珠丝杆;248-Y方向丝杆固定座;249-Y方向丝杆螺母;251-光轴;252-光轴固定座;253-螺母直线轴承固定座;254-法兰直线轴承;255-Y方向同步带;256-Y方向张紧轮;257-Y方向第二滑轨;258-Y方向第二滑块;240-Y direction drive assembly; 241-Y direction servo motor; 242-Y direction motor base; 243-Y direction first slide rail; 244-Y direction first slider; 245-guide shaft; ;247-Y direction ball screw; 248-Y direction screw holder; 249-Y direction screw nut; 251-optical axis; 252-optical axis holder; 253-nut linear bearing holder; 254-flange Linear bearing; 255-Y direction synchronous belt; 256-Y direction tension wheel; 257-Y direction second slide rail; 258-Y direction second slide block;
270-Z方向驱动组件;271-Z方向伺服电机;272-Z方向滑块固定板;273-Z方向滑轨;274-Z方向滑块;275-Z方向电机机座;276-Z方向同步带;277-Z方向滚珠丝杆;278-Z方向丝杆螺母;270-Z direction drive assembly; 271-Z direction servo motor; 272-Z direction slider fixing plate; 273-Z direction slide rail; 274-Z direction slider; 275-Z direction motor base; 276-Z direction synchronization Belt; 277-Z direction ball screw; 278-Z direction screw nut;
300-末端执行器;300-end effector;
310-机械臂;310-mechanical arm;
320-夹爪;321-普通夹爪;322-翻转夹爪;320-Jaws; 321-Common Jaws; 322-Flip Jaws;
400-循环装置;400 - circulation device;
410-循环电机;420-循环皮带轮;430-传送带;440-导引轴;450-升降气缸;410-cycle motor; 420-cycle pulley; 430-conveyor belt; 440-guide shaft; 450-lift cylinder;
500-工件。500 - Workpiece.
具体实施方式Detailed ways
为了使本实用新型的目的、技术方案及优点更加清楚明白,以下通过实施例,并结合附图,对本实用新型的三次元送料机械手进行进一步详细说明。应当理解,此处所描述的具体实施例仅用以解释本实用新型,并不用于限定本实用新型。In order to make the purpose, technical solution and advantages of the utility model clearer, the following examples are combined with the accompanying drawings to further describe the three-dimensional feeding manipulator of the utility model in detail. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.
参见图1至图6,本实用新型一实施例的三次元送料机械手,适用于冲床等机械设备的送料装置,也可以为单送料装置,用于对工件500进行多工位输送。本实用新型的三次元送料机械手包括机架100、控制装置、驱动执行装置200以及末端执行器300。控制装置与驱动执行装置200均安装在机架100上,控制装置与驱动执行装置200电连接,末端执行器300安装在驱动执行装置200上,工件500安装在末端执行器300上,控制装置控制驱动执行装置200带动末端执行器300分别沿X轴方向、Y轴方向与Z轴方向运动(如图1所示的呈相互垂直的X轴方向、Y轴方向及Z轴方向,X轴方向与Y轴方向相互垂直,Z轴方向垂直于X轴方向与Y轴方向形成的平面),将工件500输送至指定位置。Referring to Fig. 1 to Fig. 6, the three-dimensional feeding manipulator according to an embodiment of the present invention is suitable for feeding devices of mechanical equipment such as punch presses, and can also be a single feeding device for multi-station transportation of workpieces 500 . The three-dimensional feeding manipulator of the present utility model includes a frame 100 , a control device, a driving execution device 200 and an end effector 300 . Both the control device and the driving execution device 200 are installed on the frame 100, the control device is electrically connected to the driving execution device 200, the end effector 300 is installed on the driving execution device 200, the workpiece 500 is installed on the end effector 300, and the control device controls The driving actuator 200 drives the end effector 300 to move along the X-axis direction, the Y-axis direction and the Z-axis direction respectively (the X-axis direction, the Y-axis direction and the Z-axis direction are perpendicular to each other as shown in FIG. The Y-axis directions are perpendicular to each other, the Z-axis direction is perpendicular to the plane formed by the X-axis direction and the Y-axis direction), and the workpiece 500 is transported to a designated position.
其中,驱动执行装置200包括X方向驱动组件210、Y方向驱动组件240和Z方向驱动组件270,X方向驱动组件210与Z方向驱动组件270均安装在机架100上,Z方向驱动组件270安装在Y方向驱动组件240上。控制装置能够控制X方向驱动组件210、Y方向驱动组件240与Z方向驱动组件270中的一个或几个同时运动,进而带动末端执行器300运动,实现X轴方向、Y轴方向和Z轴方向三轴联动,高速、高精度输送工件500。末端执行器300包括平行设置的两个机械臂310以及对应设置在机械臂310上的夹爪320,机械臂310沿X方向设置,X方向驱动组件210的输出端与机械臂310的端部连接,Y方向驱动组件240的输出端与机械臂310连接。夹爪320对应安装在机械臂310上,平行设置的机械臂310相对运动,能够实现夹爪320夹取工件500,X方向驱动组件210、Y方向驱动组件240与Z方向驱动组件270带动机械臂310运动,实现本实用新型的三次元送料机械手对工件500三自由度的输送,即实现三轴联动输送工件500,动作灵活,能够满足不同加工设备的使用需求。进一步地,驱动执行装置200中的X方向驱动组件210、Y方向驱动组件240与Z方向驱动组件270均设置在机架100的内侧,避免操作人员触及受到伤害。Wherein, the drive execution device 200 includes an X-direction drive assembly 210, a Y-direction drive assembly 240, and a Z-direction drive assembly 270. Both the X-direction drive assembly 210 and the Z-direction drive assembly 270 are installed on the frame 100, and the Z-direction drive assembly 270 is installed On the drive assembly 240 in the Y direction. The control device can control one or several of the X-direction drive assembly 210, the Y-direction drive assembly 240, and the Z-direction drive assembly 270 to move simultaneously, and then drive the end effector 300 to move to realize the X-axis direction, the Y-axis direction and the Z-axis direction. Three-axis linkage, high-speed, high-precision conveying workpiece 500. The end effector 300 includes two mechanical arms 310 arranged in parallel and jaws 320 correspondingly arranged on the mechanical arms 310. The mechanical arms 310 are arranged along the X direction, and the output end of the X-direction driving assembly 210 is connected to the end of the mechanical arms 310. , the output end of the Y-direction drive assembly 240 is connected to the mechanical arm 310 . The gripper 320 is correspondingly installed on the mechanical arm 310, and the parallel mechanical arm 310 moves relatively, so that the gripper 320 can clamp the workpiece 500, and the X-direction driving assembly 210, the Y-direction driving assembly 240, and the Z-direction driving assembly 270 drive the mechanical arm. The 310 movement realizes the three-dimensional feeding manipulator of the utility model to transport the workpiece 500 with three degrees of freedom, that is, realizes the three-axis linkage conveying of the workpiece 500. The movement is flexible and can meet the use requirements of different processing equipment. Furthermore, the X-direction drive assembly 210 , the Y-direction drive assembly 240 and the Z-direction drive assembly 270 in the drive execution device 200 are all arranged inside the frame 100 to prevent the operator from getting hurt.
通过控制装置控制X方向驱动组件210带动机械臂310实现X轴方向移送的动作;通过控制装置控制Y方向驱动组件240带动机械臂310实现Y轴方向的夹张动作;控制装置控制Z方向驱动组件270带动机械臂310实现Z轴方向的升降动作。X方向驱动组件210带动机械臂310在水平方向上向平行于机械臂310的方向运动,X方向驱动组件210实现输送工件500,X方向驱动组件210沿X轴方向运动,进而带动机械臂310运动,将夹爪320上的工件500运送到指定位置;Y方向驱动组件240带动机械臂310在水平方向上相互靠近或者相互远离,Y方向驱动组件240实现夹取或者松开工件500,Y方向驱动组件240带动机械臂310在Y轴方向上相互靠近,夹爪320能够夹取工件500,Y方向驱动组件240带动机械臂310在Y轴方向上相互远离,夹爪320能够松开工件500;Z方向驱动组件270带动Y方向驱动组件240和机械臂310沿Z轴方向同步运动,Z方向驱动组件270实现升降工件500,Y方向驱动组件240安装在Z方向驱动组件270上,Z方向驱动组件270运动时能够带动Y方向驱动组件240一同运动。具体的,对应图1中的坐标系,X方向驱动组件210带动机械臂310沿X方向同步运动,Y方向驱动组件240带动同步机械臂310沿Y方向运动,Z方向驱动组件270带动机械臂310沿Z方向同步运动,这样能够保证输送工件500的精度,保证产品的品质。The control device controls the X-direction drive assembly 210 to drive the mechanical arm 310 to realize the movement in the X-axis direction; the control device controls the Y-direction drive assembly 240 to drive the mechanical arm 310 to realize the clamping action in the Y-axis direction; the control device controls the Z-direction drive assembly. 270 drives the mechanical arm 310 to realize the lifting movement in the Z-axis direction. The X-direction driving assembly 210 drives the mechanical arm 310 to move in a direction parallel to the mechanical arm 310 in the horizontal direction. The X-direction driving assembly 210 realizes the conveyance of the workpiece 500, and the X-direction driving assembly 210 moves along the X-axis direction, thereby driving the mechanical arm 310 to move. , to transport the workpiece 500 on the jaws 320 to the designated position; the Y-direction driving assembly 240 drives the mechanical arms 310 to approach or move away from each other in the horizontal direction, the Y-direction driving assembly 240 realizes clamping or loosening the workpiece 500, and the Y-direction driving The component 240 drives the mechanical arms 310 to approach each other in the Y-axis direction, the jaws 320 can grip the workpiece 500, the Y-direction driving component 240 drives the mechanical arms 310 to move away from each other in the Y-axis direction, and the clamping jaws 320 can release the workpiece 500; Z The direction driving assembly 270 drives the Y-direction driving assembly 240 and the mechanical arm 310 to move synchronously along the Z-axis direction. The Z-direction driving assembly 270 realizes lifting the workpiece 500. The Y-direction driving assembly 240 is installed on the Z-direction driving assembly 270. The Z-direction driving assembly 270 When moving, it can drive the driving assembly 240 in the Y direction to move together. Specifically, corresponding to the coordinate system in FIG. 1 , the X-direction driving assembly 210 drives the mechanical arm 310 to move synchronously along the X direction, the Y-direction driving assembly 240 drives the synchronous mechanical arm 310 to move along the Y direction, and the Z-direction driving assembly 270 drives the mechanical arm 310 The synchronous movement along the Z direction can ensure the accuracy of conveying the workpiece 500 and the quality of the product.
目前,机械手存在机械结构过于复杂、生产率较低、产品品质不稳定、达不到高速高精的送料的要求等问题,不利于满足工厂生产的自动化需求。本实用新型的三次元送料机械手通过控制装置控制驱动执行装置200带动末端执行器300进行输送工件500,结构紧凑,末端执行器300的机械臂310平行设置,驱动执行装置200中的X方向驱动组件210、Y方向驱动组件240和Z方向驱动组件270共同作用带动机械臂310运动,快速输送工件500,实现机械臂310在水平方向上夹取与松开工件500、沿平行于机械臂310的方向移动、在竖直方向上升降,机械臂310上的夹爪320夹取工件500,并通过X方向驱动组件210、Y方向驱动组件240和Z方向驱动组件270相互配合带动机械臂310将工件500输送至指定位置,实现X轴方向、Y轴方向和Z轴方向三轴联动,高速、高精度输送工件500,保证产品的品质,提高生产效率、降低生产成本,节约生产时间。At present, the manipulator has problems such as overly complex mechanical structure, low productivity, unstable product quality, and failure to meet the requirements of high-speed and high-precision feeding, which is not conducive to meeting the automation needs of factory production. The three-dimensional feeding manipulator of the utility model drives the end effector 300 to transport the workpiece 500 through the control device to control the drive execution device 200. It has a compact structure, and the mechanical arm 310 of the end effector 300 is arranged in parallel to drive the X-direction drive assembly in the execution device 200. 210. The Y-direction drive assembly 240 and the Z-direction drive assembly 270 work together to drive the mechanical arm 310 to move, and quickly transport the workpiece 500, so that the mechanical arm 310 can clamp and loosen the workpiece 500 in the horizontal direction, along the direction parallel to the mechanical arm 310 Moving, lifting in the vertical direction, the gripper 320 on the mechanical arm 310 grips the workpiece 500, and the X-direction drive assembly 210, the Y-direction drive assembly 240 and the Z-direction drive assembly 270 cooperate with each other to drive the mechanical arm 310 to move the workpiece 500 Convey to the designated position, realize three-axis linkage in X-axis direction, Y-axis direction and Z-axis direction, high-speed and high-precision conveying workpiece 500, ensure product quality, improve production efficiency, reduce production cost, and save production time.
参见图1至图4,作为一种可实施方式,X方向驱动组件210包括X方向伺服电机211、X方向传动机构、X方向滑块固定板212、导柱215和连接板216。具体的,X方向伺服电机211的输出端与X方向传动机构连接,X方向传动机构与X方向滑块固定板212连接,导柱215沿Z方向安装在X方向滑块固定板212上,导柱215通过连接板216与机械臂310的一端连接。导柱215位于竖直面上(即与Z轴方向平行)。进一步地,X方向驱动组件270还包括X方向滑轨213和X方向滑块214,X方向滑轨213沿X轴方向平行设置在机架100上,X方向滑轨213与机械臂310平行(即X轴方向)设置,X方向滑块214的一端安装在X方向滑块固定板212上,X方向滑块214的另一端分别安装在X方向滑轨213上。通过X方向滑轨213和X方向滑块214来保证X方向传动机构带动X方向滑块固定板212运动时能够沿X轴方向运动。Referring to FIGS. 1 to 4 , as a possible implementation, the X-direction driving assembly 210 includes an X-direction servo motor 211 , an X-direction transmission mechanism, an X-direction slider fixing plate 212 , a guide post 215 and a connecting plate 216 . Specifically, the output end of the X-direction servo motor 211 is connected to the X-direction transmission mechanism, the X-direction transmission mechanism is connected to the X-direction slider fixing plate 212, and the guide post 215 is installed on the X-direction slider fixing plate 212 along the Z direction. The column 215 is connected to one end of the robot arm 310 through a connecting plate 216 . The guide post 215 is located on a vertical plane (that is, parallel to the Z-axis direction). Further, the X-direction drive assembly 270 also includes an X-direction slide rail 213 and an X-direction slide block 214, the X-direction slide rail 213 is arranged parallel to the X-axis direction on the frame 100, and the X-direction slide rail 213 is parallel to the mechanical arm 310 ( That is, the X-axis direction) is set, one end of the X-direction slider 214 is installed on the X-direction slider fixing plate 212, and the other end of the X-direction slider 214 is respectively installed on the X-direction slide rail 213. The X-direction slide rail 213 and the X-direction slider 214 ensure that the X-direction transmission mechanism drives the X-direction slider fixing plate 212 to move along the X-axis direction.
X方向伺服电机211的输出端带动X方向传动机构运动,进而带动X方向滑块固定板212运动,X方向滑块固定板212带动X方向滑块214沿X方向滑轨213往复运动,X方向滑块固定板212还带动导柱215运动,导柱215通过连接板216带动机械臂310运动。更进一步地,X方向驱动组件270还包括端部直线轴承226,连接板216通过端部直线轴承226安装在导柱215上。在导柱215和连接板216之间安装端部直线轴承226,通过端部直线轴承226使得连接板216能够沿导柱215在竖直方向(即Z轴方向)上运动。当Z方向驱动组件270运动时,Z方向驱动组件270能够带动机械臂310上下运动,进而机械臂310通过连接板216沿导柱215运动,保证Z方向驱动组件270运动时不会与X方向驱动组件210发生干涉,保证运动平稳。当然,导柱215和连接板216之间为间隙配合也能够保证连接板216沿导柱215运动。The output end of the X-direction servo motor 211 drives the X-direction transmission mechanism to move, and then drives the X-direction slider fixing plate 212 to move, and the X-direction slider fixing plate 212 drives the X-direction slider 214 to reciprocate along the X-direction slide rail 213. The slider fixing plate 212 also drives the guide post 215 to move, and the guide post 215 drives the mechanical arm 310 to move through the connecting plate 216 . Further, the X-direction driving assembly 270 also includes an end linear bearing 226 , and the connecting plate 216 is mounted on the guide post 215 through the end linear bearing 226 . An end linear bearing 226 is installed between the guide post 215 and the connection plate 216 , and the end linear bearing 226 enables the connection plate 216 to move along the guide post 215 in the vertical direction (ie, the Z-axis direction). When the Z-direction driving assembly 270 moves, the Z-direction driving assembly 270 can drive the mechanical arm 310 to move up and down, and then the mechanical arm 310 moves along the guide post 215 through the connecting plate 216, so as to ensure that the Z-direction driving assembly 270 will not move with the X-direction drive. Assembly 210 interferes to ensure smooth movement. Of course, clearance fit between the guide post 215 and the connection plate 216 can also ensure the movement of the connection plate 216 along the guide post 215 .
当然,X方向驱动组件210还可以包括滑轨挡板221和顶板227。在本实用新型中,X方向滑轨213对称放置,X方向滑块214的数量与X方向滑轨213的数量相同,以保证每个X方向滑轨213上均安装X方向滑块214,同时设置在X方向滑轨213上的X方向滑块214通过一个X方向滑块固定板212连接,以保证运动的同步性。滑轨挡板221与X方向滑轨213平行,且滑轨挡板221分别安装在X方向滑轨213的两侧,也成对称设置。导柱215通过顶板227安装在X方向滑块固定板212,以提高导柱215的可靠性。这样X方向滑块214在沿X方向滑轨213运动时能够保证X方向滑块214平稳滑动,保证与X方向滑块214连接的X方向滑块固定板212运动平稳,进而保证机械臂310运动平稳,降低机械臂310的振动,提高输送工件500的精度。同时,顶板227还能够在X方向滑块固定板212上移动,当Y方向驱动组件240运动时,Y方向驱动组件240能够带动机械臂310相互靠近或者相互远离,进而机械臂310带动连接板216和导柱215通过运动顶板227沿X方向滑块固定板212运动,保证Y方向驱动组件240运动时不会与X方向驱动组件210发生干涉,保证运动平稳。Of course, the X-direction driving assembly 210 may also include a sliding rail baffle 221 and a top plate 227 . In the present utility model, X direction slide rail 213 is placed symmetrically, and the quantity of X direction slide block 214 is identical with the quantity of X direction slide rail 213, all installs X direction slide block 214 on each X direction slide rail 213, simultaneously The X-direction slider 214 arranged on the X-direction slide rail 213 is connected by an X-direction slider fixing plate 212 to ensure the synchronization of movement. The slide rail baffles 221 are parallel to the X-direction slide rail 213 , and the slide rail baffles 221 are respectively installed on both sides of the X-direction slide rail 213 , and are also arranged symmetrically. The guide post 215 is installed on the X-direction slider fixing plate 212 through the top plate 227 to improve the reliability of the guide post 215 . In this way, the X-direction slider 214 can ensure that the X-direction slider 214 slides smoothly when moving along the X-direction slide rail 213, and ensure that the X-direction slider fixing plate 212 connected with the X-direction slider 214 moves smoothly, thereby ensuring that the mechanical arm 310 moves Stable, reduce the vibration of the mechanical arm 310, and improve the accuracy of conveying the workpiece 500. At the same time, the top plate 227 can also move on the X-direction slider fixing plate 212. When the Y-direction drive assembly 240 moves, the Y-direction drive assembly 240 can drive the mechanical arms 310 to approach or move away from each other, and then the mechanical arm 310 drives the connecting plate 216 And the guide post 215 moves along the X-direction slider fixing plate 212 through the moving top plate 227 to ensure that the Y-direction drive assembly 240 will not interfere with the X-direction drive assembly 210 when moving, ensuring smooth movement.
进一步地,X方向传动机构包括X方向同步带、X方向电机机座、X方向电机齿轮、X方向张紧轮、X方向滚珠丝杆217、X方向丝杆固定座218和X方向丝杆螺母219。X方向伺服电机211的输出端通过X方向电机齿轮和X方向同步带与X方向滚珠丝杆217连接。X方向伺服电机211通过X方向电机机座固定在机架100上,X方向电机齿轮分别安装在X方向伺服电机211的输出端上和X方向滚珠丝杆217上,X方向同步带套装在X方向电机齿轮上,X方向同步带的输出端与X方向滚珠丝杆217连接。X方向张紧轮安装在X方向同步带的内侧或外侧,当X方向同步带松弛时,X方向张紧轮能够提高X方向同步带的张紧力,保证安全,提高使用寿命。X方向滚珠丝杆217通过X方向丝杆固定座218安装在机架100上,X方向丝杆螺母219套装在X方向滚珠丝杆217上,X方向丝杆螺母219沿X方向滚珠丝杆217运动,X方向丝杆螺母219上安装X方向滑块固定板。当然,X方向传动机构中也可以通过齿轮齿条传动或蜗轮蜗杆传动等将回转运动转化成直线运动的传动方式。在本实施例中,采用滚珠丝杆的传动方式将回转运动转化成直线运动。当然,在X方向伺服电机211的输出端与X方向滚珠丝杆217之间也可以安装减速器,用减速器替换X方向传动机构,以达到减速、传动平稳的目的。Further, the X-direction transmission mechanism includes an X-direction synchronous belt, an X-direction motor base, an X-direction motor gear, an X-direction tension wheel, an X-direction ball screw 217, an X-direction screw fixing seat 218 and an X-direction screw nut 219. The output end of the X-direction servo motor 211 is connected with the X-direction ball screw 217 through the X-direction motor gear and the X-direction synchronous belt. The X direction servo motor 211 is fixed on the frame 100 through the X direction motor support, the X direction motor gears are installed on the output end of the X direction servo motor 211 and the X direction ball screw 217 respectively, and the X direction synchronous belt is set on the X direction. On the direction motor gear, the output end of the X direction synchronous belt is connected with the X direction ball screw 217. The X-direction tensioning pulley is installed on the inside or outside of the X-direction timing belt. When the X-direction timing belt is loose, the X-direction tensioning pulley can increase the tension of the X-direction timing belt to ensure safety and improve service life. The X-direction ball screw 217 is installed on the frame 100 through the X-direction screw fixing seat 218, the X-direction screw nut 219 is set on the X-direction ball screw 217, and the X-direction screw nut 219 moves along the X-direction ball screw 217 Movement, the X direction slide block fixing plate is installed on the X direction screw nut 219. Certainly, in the X-direction transmission mechanism, the rotary motion can also be converted into a linear motion through a rack-and-pinion transmission or a worm gear transmission. In this embodiment, the transmission mode of the ball screw is used to convert the rotary motion into linear motion. Of course, a reducer can also be installed between the output end of the X-direction servo motor 211 and the X-direction ball screw 217, and the X-direction transmission mechanism can be replaced by the reducer to achieve the purpose of deceleration and stable transmission.
在本实施例中,控制装置控制X方向伺服电机211运动,X方向伺服电机211通过X方向电机齿轮配合X方向同步带带动X方向滚珠丝杆217进行减速运动,滑轨挡板221和X方向直线导轨对称放置保证X方向滑块214运行平稳,进而保证X方向滑块固定板212水平移动,X方向滚珠丝杆217配合X方向丝杆螺母219带动X方向滑块固定板212运动,再通过顶板227和导柱215带动连接板216连接到机械臂310运动,进而机械臂310带动夹爪320实现移送工序。为保证机械臂310能够沿着X轴方向水平移动,采用两组移动平台,保证机械臂310不会脱轨。In this embodiment, the control device controls the movement of the X-direction servo motor 211. The X-direction servo motor 211 drives the X-direction ball screw 217 to decelerate through the X-direction motor gear and the X-direction synchronous belt. The slide rail baffle 221 and the X-direction The linear guide rails are symmetrically placed to ensure the smooth operation of the X-direction slider 214, thereby ensuring the horizontal movement of the X-direction slider fixing plate 212. The X-direction ball screw 217 cooperates with the X-direction screw nut 219 to drive the X-direction slider fixing plate 212 to move, and then passes The top plate 227 and the guide post 215 drive the connecting plate 216 to move to the mechanical arm 310 , and then the mechanical arm 310 drives the gripper 320 to realize the transfer process. In order to ensure that the mechanical arm 310 can move horizontally along the X-axis direction, two sets of moving platforms are used to ensure that the mechanical arm 310 will not derail.
作为一种可实施方式,三次元送料机械手还包括移动平台,Y方向驱动组件240和Z方向驱动组件270通过移动平台与机械臂310连接。移动平台包括移动平台滑轨固定板225、移动平台滑轨223、移动平台滑块224和移动平台滑块固定板222,移动平台滑轨223平行设置在移动平台滑轨固定板225上,且移动平台滑轨223与机械臂310平行,移动平台滑块224的一端安装在移动平台滑块固定板222上,移动平台滑块224的另一端安装在移动平台滑轨223上,移动平台滑轨固定板安装在机械臂310上,移动平台滑块固定板222安装在Y方向驱动组件240上。移动平台能够保证机械臂310在沿X轴方向移动时不会脱轨,移动平台还能够保证X方向驱动组件210在运动时不会与Y方向驱动组件240和Z方向运动组件发生干涉,也就是说X方向驱动组件210在控制机械臂310沿X轴方向运动时,通过移动平台滑块固定板222带动移动平台滑轨223在移动平台滑块224上滑动,不会带动Y方向驱动组件240和Z方向运动组件运动,保证工件500输送的精度。同时,Y方向驱动组件240和Z方向运动组件在运动时能够通过移动平台带动机械臂310一同运动,Y方向驱动组件240和Z方向运动组件还通过移动平台实现机械臂310在X轴方向的辅助运动。As a possible implementation, the three-dimensional feeding robot also includes a moving platform, and the Y-direction driving assembly 240 and the Z-direction driving assembly 270 are connected to the mechanical arm 310 through the moving platform. Mobile platform comprises mobile platform slide rail fixed plate 225, mobile platform slide rail 223, mobile platform slide block 224 and mobile platform slide block fixed plate 222, and mobile platform slide rail 223 is arranged on mobile platform slide rail fixed plate 225 in parallel, and moves Platform slide rail 223 is parallel with mechanical arm 310, and one end of mobile platform slide block 224 is installed on the mobile platform slide block fixed plate 222, and the other end of mobile platform slide block 224 is installed on the mobile platform slide rail 223, and the mobile platform slide rail is fixed The plate is installed on the mechanical arm 310 , and the moving platform slider fixing plate 222 is installed on the Y direction driving assembly 240 . The mobile platform can ensure that the mechanical arm 310 will not derail when moving along the X-axis direction, and the mobile platform can also ensure that the X-direction drive assembly 210 will not interfere with the Y-direction drive assembly 240 and the Z-direction motion assembly when moving, that is to say When the X-direction drive assembly 210 controls the movement of the mechanical arm 310 along the X-axis direction, the mobile platform slide rail 223 is driven to slide on the mobile platform slide block 224 through the mobile platform slider fixing plate 222, and the Y-direction drive assembly 240 and the Z direction drive assembly 240 will not be driven. The direction movement component moves to ensure the precision of workpiece 500 conveying. At the same time, the drive assembly 240 in the Y direction and the motion assembly in the Z direction can drive the mechanical arm 310 to move together through the mobile platform, and the drive assembly 240 in the Y direction and the motion assembly in the Z direction can also realize the assistance of the mechanical arm 310 in the X-axis direction through the mobile platform. sports.
参见图1至图5,作为一种可实施方式,Y方向驱动组件240的数量为两个,两个Y方向驱动组件240分别位于机械臂310的下方。机械臂310上的夹爪320相互靠近或者相互远离由两个结构相同的Y方向驱动组件240控制,两个结构相同的Y方向驱动组件240分别安装在机械臂310下方的两侧,以保证Y轴方向的运动平稳,精度高。Y方向驱动组件240包括Y方向伺服电机241、Y方向传动机构、导向轴245和万向轴承246。具体的,Y方向伺服电机241的输出端与Y方向传动机构连接,导向轴245的一端安装在Y方向传动机构上,导向轴245的另一端通过万向轴承246安装在移动平台滑块固定板222上。导向轴245位于竖直面上(即与Z轴方向平行),Y方向伺服电机241的输出端带动Y方向传动机构运动,进而带动导向轴245运动,导向轴245带动移动平台滑块固定板222沿Y轴方向运动。Y方向驱动组件240带动机械臂310相互靠近时,万向轴承246能够保证机械臂310之间能够存在一个预设距离,保证平行设置的机械臂310不会触及彼此,以免损坏机械臂310及其上的夹爪320。Referring to FIG. 1 to FIG. 5 , as a possible implementation, there are two Y-direction driving assemblies 240 , and the two Y-direction driving assemblies 240 are respectively located under the mechanical arm 310 . The jaws 320 on the mechanical arm 310 approach or move away from each other and are controlled by two Y-direction drive assemblies 240 with the same structure. The two Y-direction drive assemblies 240 with the same structure are respectively installed on both sides below the mechanical arm 310 to ensure the Y direction. The movement in the axial direction is smooth and the precision is high. The Y-direction drive assembly 240 includes a Y-direction servo motor 241 , a Y-direction transmission mechanism, a guide shaft 245 and a universal bearing 246 . Specifically, the output end of the Y-direction servo motor 241 is connected to the Y-direction transmission mechanism, one end of the guide shaft 245 is installed on the Y-direction transmission mechanism, and the other end of the guide shaft 245 is installed on the slider fixing plate of the mobile platform through a universal bearing 246 222 on. The guide shaft 245 is located on a vertical plane (that is, parallel to the Z-axis direction), and the output end of the Y-direction servo motor 241 drives the Y-direction transmission mechanism to move, thereby driving the guide shaft 245 to move, and the guide shaft 245 drives the slider fixing plate 222 of the mobile platform. Move along the Y axis. When the Y-direction driving assembly 240 drives the mechanical arms 310 to approach each other, the universal bearing 246 can ensure that there is a preset distance between the mechanical arms 310, and ensure that the parallel mechanical arms 310 will not touch each other, so as not to damage the mechanical arms 310 and their components. The upper jaw 320.
进一步地,Y方向传动机构包括Y方向电机齿轮、Y方向电机机座242、Y方向同步带255、Y方向张紧轮256、Y方向滚珠丝杆247、Y方向丝杆螺母249、光轴251、法兰直线轴承254和螺母直线轴承固定座253。Y方向伺服电机241的输出端通过Y方向电机齿轮和Y方向同步带255与Y方向滚珠丝杆247连接。Y方向伺服电机241通过Y方向电机机座242安装在Z方向驱动组件270上,Y方向电机齿轮分别安装在Y方向伺服电机241的输出端上和Y方向滚珠丝杆247上,Y方向同步带255套装在Y方向电机齿轮上,Y方向张紧轮256安装在Y方向同步带255的内侧或外侧,当Y方向同步带255松弛时,Y方向张紧轮256能够提高Y方向同步带255的张紧力,保证安全,提高使用寿命。Further, the Y-direction transmission mechanism includes a Y-direction motor gear, a Y-direction motor frame 242, a Y-direction synchronous belt 255, a Y-direction tension pulley 256, a Y-direction ball screw 247, a Y-direction screw nut 249, and an optical axis 251 , flange linear bearing 254 and nut linear bearing fixing seat 253. The output end of the Y-direction servo motor 241 is connected with the Y-direction ball screw 247 through the Y-direction motor gear and the Y-direction synchronous belt 255 . The Y direction servo motor 241 is installed on the Z direction driving assembly 270 by the Y direction motor support 242, and the Y direction motor gear is respectively installed on the output end of the Y direction servo motor 241 and on the Y direction ball screw 247, and the Y direction synchronous belt 255 is sleeved on the Y direction motor gear, and the Y direction tension pulley 256 is installed on the inside or outside of the Y direction synchronous belt 255. When the Y direction synchronous belt 255 was loose, the Y direction tension pulley 256 can improve the Y direction synchronous belt 255. Tension force ensures safety and improves service life.
Y方向滚珠丝杆247沿Y轴方向设置,Y方向滚珠丝杆247与光轴251平行设置,且光轴251分别安装在Y方向滚珠丝杆247的两侧,Y方向滚珠丝杆247垂直于机械臂310(即沿Y轴方向设置),Y方向滚珠丝杆247与光轴251分别穿过螺母直线轴承固定座253,且Y方向滚珠丝杆247的两端分别通过Y方向丝杆固定座248固定在机架100上,光轴251的两端分别通过光轴固定座252固定在机架100上,Y方向滚珠丝杆247与螺母直线轴承固定座253之间安装Y方向丝杆螺母249,光轴251与螺母直线轴承固定座253之间安装法兰直线轴承254,导向轴245安装在螺母直线轴承固定座253上。当然,在Y方向伺服电机241的输出端与Y方向滚珠丝杆247之间也可以安装减速器,用减速器替换Y方向传动机构,以达到减速、传动平稳的目的。The Y-direction ball screw 247 is arranged along the Y-axis direction, the Y-direction ball screw 247 is arranged parallel to the optical axis 251, and the optical axis 251 is respectively installed on both sides of the Y-direction ball screw 247, and the Y-direction ball screw 247 is perpendicular to The mechanical arm 310 (that is, arranged along the Y-axis direction), the Y-direction ball screw 247 and the optical axis 251 pass through the nut linear bearing fixing seat 253 respectively, and the two ends of the Y-direction ball screw 247 respectively pass through the Y-direction screw fixing seat 248 is fixed on the frame 100, the two ends of the optical axis 251 are respectively fixed on the frame 100 through the optical axis fixing seat 252, and the Y direction screw nut 249 is installed between the Y direction ball screw 247 and the nut linear bearing fixing seat 253 , A flange linear bearing 254 is installed between the optical axis 251 and the nut linear bearing fixing seat 253 , and the guide shaft 245 is installed on the nut linear bearing fixing seat 253 . Of course, a reducer can also be installed between the output end of the Y-direction servo motor 241 and the Y-direction ball screw 247, and the Y-direction transmission mechanism can be replaced by the reducer to achieve the purpose of deceleration and stable transmission.
在本实施例中,控制装置控制Y方向伺服电机241通过Y方向电机齿轮和Y方向同步带255连接到Y方向滚珠丝杆247上进行减速。Y方向滚珠丝杆247能够带动螺母直线轴承固定座253通过导向轴245带动平行设置的机械臂310进行同时加紧或同时张开的运动。两根光轴251连接螺母直线轴承固定座253,为螺母直线轴承固定座253带动机械臂310运动时提供平衡支撑,导向轴245连接万向轴承246并固定于移动平台滑块固定板222上,同时,Y方向驱动组件240在运动时,移动平台还能够辅助机械手进行X轴方向的移送。In this embodiment, the control device controls the Y-direction servo motor 241 to be connected to the Y-direction ball screw 247 through the Y-direction motor gear and the Y-direction synchronous belt 255 to decelerate. The Y-direction ball screw 247 can drive the nut linear bearing fixing seat 253 to drive the mechanical arm 310 arranged in parallel through the guide shaft 245 to perform a simultaneous tightening or simultaneous opening movement. The two optical shafts 251 are connected to the nut linear bearing fixing seat 253 to provide balanced support for the nut linear bearing fixing seat 253 to drive the mechanical arm 310 to move. The guide shaft 245 is connected to the universal bearing 246 and fixed on the slider fixing plate 222 of the mobile platform. At the same time, when the Y-direction driving assembly 240 is moving, the mobile platform can also assist the manipulator to transfer in the X-axis direction.
由于两个Y方向驱动组件240的结构相同,动作过程也相同,因此,以其中一个Y方向驱动组件240为例,说明Y方向驱动组件240的工作过程。Y方向伺服电机241的输出端通过Y方向电机齿轮和Y方向同步带255将运动传递给Y方向滚珠丝杆247,Y方向丝杆螺母249沿Y方向滚珠丝杆247运动,进而带动螺母直线轴承固定座253沿Y方向滚珠丝杆247运动,螺母直线轴承固定座253通过法兰直线轴承254沿光轴251运动,螺母直线轴承固定座253带动导向轴245运动。为了保证两个Y方向驱动组件240的同步性能,控制装置同步控制两个Y方向驱动组件240中的Y方向伺服电机241,同时在机械结构上采用Y方向滚珠丝杆247能够进一步保证两个Y方向驱动组件240的同步性能。Since the two Y-direction driving assemblies 240 have the same structure and the same action process, one of the Y-direction driving assemblies 240 is taken as an example to illustrate the working process of the Y-direction driving assembly 240 . The output end of the Y-direction servo motor 241 transmits the motion to the Y-direction ball screw 247 through the Y-direction motor gear and the Y-direction synchronous belt 255, and the Y-direction screw nut 249 moves along the Y-direction ball screw 247, thereby driving the nut linear bearing The fixing base 253 moves along the ball screw 247 in the Y direction, the nut linear bearing fixing base 253 moves along the optical axis 251 through the flange linear bearing 254 , and the nut linear bearing fixing base 253 drives the guide shaft 245 to move. In order to ensure the synchronous performance of the two Y-direction drive assemblies 240, the control device synchronously controls the Y-direction servo motors 241 in the two Y-direction drive assemblies 240, while adopting the Y-direction ball screw 247 on the mechanical structure can further ensure the two Y Synchronization performance of direction drive assembly 240.
更进一步地,Y方向驱动组件240还包括Y方向第一滑轨243和Y方向第一滑块244,Y方向第一滑轨243沿Y轴方向设置,Y方向第一滑轨243安装在Z方向驱动组件270上,Y方向第一滑块244的一端安装在Y方向第一滑轨243上,Y方向第一滑块244的另一端与螺母直线轴承固定座253连接;螺母直线轴承固定座253运动带动导向轴245运动时还能够带动Y方向第一滑块244沿Y方向第一滑轨243运动。Y方向第一滑轨243和Y方向第一滑块244能够保证Y方向驱动组件240在运动时不会与Z方向驱动组件270发生干涉。Y方向驱动组件240在控制机械臂310相互靠近或者相互远离时,通过螺母直线轴承固定座253运动带动导向轴245运动,导向轴245带动移动平台沿Y方向运动;同时螺母直线轴承固定座253还能够带动Y方向第一滑块244沿Y方向第一滑轨243运动,Y方向第一滑轨243不运动,不会带动Z方向驱动组件270运动,保证工件500输送的精度。Furthermore, the Y-direction driving assembly 240 also includes a first Y-direction slide rail 243 and a Y-direction first slide block 244, the Y-direction first slide rail 243 is arranged along the Y-axis direction, and the Y-direction first slide rail 243 is installed on the Z On the direction drive assembly 270, one end of the first slider 244 in the Y direction is installed on the first slide rail 243 in the Y direction, and the other end of the first slider 244 in the Y direction is connected with the nut linear bearing fixing seat 253; the nut linear bearing fixing seat When the movement of 253 drives the guide shaft 245 to move, it can also drive the first slider 244 in the Y direction to move along the first slide rail 243 in the Y direction. The first sliding rail 243 in the Y direction and the first sliding block 244 in the Y direction can ensure that the driving assembly 240 in the Y direction does not interfere with the driving assembly 270 in the Z direction when moving. When the Y-direction drive assembly 240 controls the mechanical arms 310 to approach or move away from each other, the movement of the nut linear bearing holder 253 drives the guide shaft 245 to move, and the guide shaft 245 drives the mobile platform to move in the Y direction; meanwhile, the nut linear bearing holder 253 also moves It can drive the first slider 244 in the Y direction to move along the first slide rail 243 in the Y direction, and the first slide rail 243 in the Y direction does not move, and will not drive the driving assembly 270 in the Z direction, so as to ensure the accuracy of workpiece 500 conveying.
同时,Y方向驱动组件240还包括设置有Y方向第二滑轨257和Y方向第二滑块258,Y方向第二滑轨257沿Y轴方向设置,Y方向第二滑轨257固定在X方向滑块固定板212上,Y方向第二滑块258的一端安装在Y方向第二滑轨257上,Y方向第二滑块258的另一端通过顶板227安装在导柱215上。顶板227通过Y方向第二滑轨257和Y方向第二滑块258在X方向滑块固定板212上移动。当Y方向驱动组件240运动时,Y方向驱动组件240能够带动机械臂310相互靠近或者相互远离,进而机械臂310带动连接板216和导柱215通过顶板227带动Y方向第二滑块258沿X方向滑块固定板212上的Y方向第二滑轨257运动,保证Y方向驱动组件240运动时不会与X方向驱动组件210发生干涉,保证运动平稳。同时,X方向驱动组件210在运动时,Y方向第二滑轨和Y方向第二滑块还能够辅助机械手进行Y轴方向的移送。At the same time, the Y direction drive assembly 240 also includes a second slide rail 257 in the Y direction and a second slide block 258 in the Y direction. The second slide rail 257 in the Y direction is arranged along the Y axis, and the second slide rail 257 in the Y direction is fixed on the X axis. On the fixed plate 212 of the direction slider, one end of the second slider 258 in the Y direction is installed on the second slide rail 257 in the Y direction, and the other end of the second slider 258 in the Y direction is installed on the guide post 215 through the top plate 227 . The top board 227 moves on the X-direction slider fixing plate 212 through the Y-direction second slide rail 257 and the Y-direction second slider 258 . When the drive assembly 240 in the Y direction moves, the drive assembly 240 in the Y direction can drive the mechanical arms 310 to approach or move away from each other, and then the mechanical arm 310 drives the connecting plate 216 and the guide post 215 to drive the second slider 258 in the Y direction along the X direction through the top plate 227. The movement of the second slide rail 257 in the Y direction on the fixed plate 212 of the direction slider ensures that the drive assembly 240 in the Y direction does not interfere with the drive assembly 210 in the X direction when moving, and ensures stable movement. At the same time, when the X-direction driving assembly 210 is moving, the second slide rail in the Y-direction and the second slider in the Y-direction can also assist the manipulator to transfer in the Y-axis direction.
作为一种可实施方式,Z方向驱动组件270的数量为两个,两个Z方向驱动组件270分别安装在Y方向驱动组件240的下方。Z方向驱动组件270时安装在Y方向驱动组件240上的,相应的,Z方向驱动组件270的数量也为两个,机械臂310上的夹爪320在竖直方向上的升降由两个结构相同的Z方向驱动组件270控制,两个结构相同的Z方向驱动组件270分别安装在Y方向驱动组件240的下方,以保证Y方向的运动平稳,精度高。As a possible implementation, the number of Z-direction driving assemblies 270 is two, and the two Z-direction driving assemblies 270 are respectively installed under the Y-direction driving assembly 240 . When the Z-direction drive assembly 270 is installed on the Y-direction drive assembly 240, correspondingly, the number of the Z-direction drive assembly 270 is also two, and the lifting of the jaw 320 on the mechanical arm 310 in the vertical direction is composed of two structures The same Z-direction drive assembly 270 is controlled, and two Z-direction drive assemblies 270 with the same structure are respectively installed below the Y-direction drive assembly 240 to ensure smooth and high-precision movement in the Y direction.
Z方向驱动组件270包括Z方向伺服电机271、Z方向传动机构和Z方向滑块固定板272。具体的,Z方向伺服电机271的输出端与Z方向传动机构连接,Z方向传动机构与Z方向滑块固定板272连接,Z方向滑块固定板272上安装Y方向第一滑轨243。进一步地,Z方向驱动组件270还包括Z方向滑轨273和Z方向滑块275,Z方向滑轨273沿Z轴方向(即竖直方向)设置在机架100上,Z方向滑块275的一端安装在Z方向滑块固定板272上,Z方向滑块275的另一端安装在Z方向滑轨273上。通过Z方向滑轨273和Z方向滑块275保证Z方向滑块固定板272沿Z轴方向运动。The Z direction driving assembly 270 includes a Z direction servo motor 271 , a Z direction transmission mechanism and a Z direction slider fixing plate 272 . Specifically, the output end of the Z-direction servo motor 271 is connected to the Z-direction transmission mechanism, the Z-direction transmission mechanism is connected to the Z-direction slider fixing plate 272 , and the Y-direction first slide rail 243 is installed on the Z-direction slider fixing plate 272 . Further, the Z-direction drive assembly 270 also includes a Z-direction slide rail 273 and a Z-direction slide block 275, the Z-direction slide rail 273 is arranged on the frame 100 along the Z-axis direction (that is, the vertical direction), and the Z-direction slide block 275 One end is installed on the Z-direction slider fixing plate 272 , and the other end of the Z-direction slider 275 is installed on the Z-direction slide rail 273 . The Z-direction slide rail 273 and the Z-direction slide block 275 ensure that the Z-direction slide block fixing plate 272 moves along the Z-axis direction.
Z方向伺服电机271的输出端带动Z方向传动机构运动,进而带动Z方向滑块固定板272运动,Z方向滑块固定板272带动Z方向滑块275沿Z方向滑轨273往复运动,Z方向滑块固定板272还带动Y方向第一滑轨243运动,Y方向第一滑轨243通过Y方向第一滑块244带动螺母直线轴承固定座253沿Z方向运动,进而通过导向轴245带动移动平台滑块固定板222沿Z轴方向运动。在本实用新型中,螺母直线轴承固定座253、导向轴245与移动平台滑块固定板222为Y方向驱动组件240和Z方向驱动组件270共同控制,通过螺母直线轴承固定座253、导向轴245与移动平台滑块固定板222能够分别实现机械臂310向Y轴方向或者Z轴方向运动。同时,Z方向驱动组件270安装在Y方向驱动组件240上,还能够保证本实用新型的三次元送料机械手的结构紧凑。The output end of the Z-direction servo motor 271 drives the Z-direction transmission mechanism to move, and then drives the Z-direction slider fixing plate 272 to move, and the Z-direction slider fixing plate 272 drives the Z-direction slider 275 to reciprocate along the Z-direction slide rail 273. The slider fixing plate 272 also drives the first slide rail 243 in the Y direction to move, and the first slide rail 243 in the Y direction drives the nut linear bearing fixing seat 253 to move in the Z direction through the first slider 244 in the Y direction, and then moves through the guide shaft 245 The platform slider fixing plate 222 moves along the Z-axis direction. In the utility model, the nut linear bearing fixing seat 253, the guide shaft 245 and the moving platform slider fixing plate 222 are jointly controlled by the Y direction driving assembly 240 and the Z direction driving assembly 270, and the nut linear bearing fixing seat 253, the guiding shaft 245 The moving platform slider fixing plate 222 can respectively realize the movement of the mechanical arm 310 in the Y-axis direction or the Z-axis direction. At the same time, the Z-direction driving assembly 270 is installed on the Y-direction driving assembly 240, which can also ensure the compact structure of the three-dimensional feeding manipulator of the present invention.
更进一步地,Z方向传动机构包括Z方向电机机座276、Z方向电机齿轮、Z方向同步带277、Z方向张紧轮、Z方向丝杆固定座、Z方向滚珠丝杆277和Z方向丝杆螺母278。Z方向伺服电机271的输出端通过Z方向电机齿轮和Z方向同步带277与Z方向滚珠丝杆277连接。Z方向伺服电机271通过Z方向电机机座276安装在机架100上,Z方向电机齿轮分别安装在Z方向伺服电机271的输出端上和Z方向滚珠丝杆277上,Z方向同步带277套装在Z方向电机齿轮上,Z方向同步带277的输出端与Z方向滚珠丝杆277连接。Z方向张紧轮安装在Z方向同步带277的内侧或外侧,当Z方向同步带277松弛时,Z方向张紧轮能够提高Z方向同步带277的张紧力,保证安全,提高使用寿命。在本实施例中,Z方向滚珠丝杆277通过Z方向丝杆固定座固定在机架100上,Z方向丝杆螺母278套装在Z方向滚珠丝杆277上,Z方向丝杆沿Z方向滚珠丝杆277运动,Z方向丝杆螺母278上安装Z方向滑块固定板272。Furthermore, the Z-direction transmission mechanism includes a Z-direction motor base 276, a Z-direction motor gear, a Z-direction synchronous belt 277, a Z-direction tensioning wheel, a Z-direction screw fixing seat, a Z-direction ball screw 277 and a Z-direction screw. Rod nut 278. The output end of the Z-direction servo motor 271 is connected with the Z-direction ball screw 277 through the Z-direction motor gear and the Z-direction synchronous belt 277 . The Z direction servo motor 271 is installed on the frame 100 through the Z direction motor support 276, the Z direction motor gear is respectively installed on the output end of the Z direction servo motor 271 and on the Z direction ball screw 277, and the Z direction synchronous belt 277 sets On the Z-direction motor gear, the output end of the Z-direction synchronous belt 277 is connected with the Z-direction ball screw 277 . The Z-direction tensioning pulley is installed on the inside or outside of the Z-direction timing belt 277. When the Z-direction timing belt 277 is slack, the Z-direction tensioning pulley can increase the tension of the Z-direction timing belt 277 to ensure safety and improve service life. In this embodiment, the Z-direction ball screw 277 is fixed on the frame 100 through the Z-direction screw fixing seat, the Z-direction screw nut 278 is set on the Z-direction ball screw 277, and the Z-direction ball screw moves along the Z-direction. The screw mandrel 277 moves, and the Z-direction slide block fixing plate 272 is installed on the Z-direction screw nut 278 .
当然,Z方向传动机构中也可以通过齿轮齿条传动或蜗轮蜗杆传动等将回转运动转化成直线运动的传动方式。在本实施例中,采用滚珠丝杆的传动方式将回转运动转化成直线运动。当然,在Z方向伺服电机271的输出端与Z方向滚珠丝杆277之间也可以安装减速器,用减速器替换Z方向传动机构,以达到减速、传动平稳的目的。Of course, in the Z-direction transmission mechanism, a transmission mode that converts rotary motion into linear motion may also be adopted through rack and pinion transmission or worm gear transmission. In this embodiment, the transmission mode of the ball screw is used to convert the rotary motion into linear motion. Of course, a reducer can also be installed between the output end of the Z-direction servo motor 271 and the Z-direction ball screw 277, and the Z-direction transmission mechanism can be replaced by the reducer to achieve the purpose of deceleration and stable transmission.
在本实施例中,控制装置控制Z方向伺服电机271通过Z方向电机齿轮和Z方向同步带277连接到Z方向滚珠丝杆277上进行减速。Z方向滚珠丝杆277通过Z方向丝杆螺母278带动Z方向滑块固定板272运动,进而使得Z方向滑块固定板272带动Z方向滑块275沿Z轴方向运动,以保证Z方向滑块固定板272沿Z方向垂直升降。同时,Z方向滑块固定板272上设置Y方向第一滑轨243,Z方向驱动组件270在运动时,Y方向第一滑轨243还能够辅助机械臂310辅助实现相互靠近或者相互远离的夹取或者松开工件500动作。In this embodiment, the control device controls the Z-direction servo motor 271 to be connected to the Z-direction ball screw 277 through the Z-direction motor gear and the Z-direction synchronous belt 277 for deceleration. The Z-direction ball screw 277 drives the Z-direction slider fixing plate 272 to move through the Z-direction screw nut 278, and then the Z-direction slider fixing plate 272 drives the Z-direction slider 275 to move along the Z-axis direction to ensure the Z-direction slider. The fixed plate 272 vertically lifts along the Z direction. At the same time, the first slide rail 243 in the Y direction is set on the Z-direction slider fixing plate 272. When the Z-direction driving assembly 270 is in motion, the first slide rail 243 in the Y direction can also assist the mechanical arm 310 to assist in realizing the clamping that is close to or far away from each other. Take or release the workpiece 500 action.
由于两个Z方向驱动组件270的结构相同,动作过程也相同,因此,以其中一个Z方向驱动组件270为例,说明Z方向驱动组件270的工作过程。Z方向伺服电机271的输出端通过Z方向电机齿轮和Z方向同步带277将运动传递给Z方向滚珠丝杆277,Z方向滚珠丝杆277带动Z方向滑块固定板272运动,同时,Z方向滑块固定板272带动Z方向滑块275沿Z方向滑轨273往复运动,Z方向滑块固定板272还带动Y方向第一滑轨243运动沿Z方向运动,Y方向第一滑轨243通过Y方向第一滑块244带动螺母直线轴承固定座253沿Z方向运动,进而通过导向轴245带动移动平台滑块固定板222沿Z轴方向运动。为了保证两个Z方向驱动组件270的同步性能,控制装置同步控制两个Z方向驱动组件270中的Z方向伺服电机271,同时在机械结构上采用Z方向滚珠丝杆277能够进一步保证两个Z方向驱动组件270的同步性能。Since the two Z-direction driving assemblies 270 have the same structure and the same action process, one of the Z-direction driving assemblies 270 is taken as an example to illustrate the working process of the Z-direction driving assembly 270 . The output end of the Z direction servo motor 271 transmits the motion to the Z direction ball screw 277 through the Z direction motor gear and the Z direction synchronous belt 277, and the Z direction ball screw 277 drives the Z direction slider fixing plate 272 to move. The slider fixing plate 272 drives the Z-direction slider 275 to reciprocate along the Z-direction slide rail 273, the Z-direction slider fixing plate 272 also drives the Y-direction first slide rail 243 to move along the Z-direction, and the Y-direction first slide rail 243 passes through The first slider 244 in the Y direction drives the nut linear bearing fixing seat 253 to move in the Z direction, and then drives the slider fixing plate 222 of the mobile platform to move in the Z direction through the guide shaft 245 . In order to ensure the synchronous performance of the two Z-direction drive assemblies 270, the control device synchronously controls the Z-direction servo motors 271 in the two Z-direction drive assemblies 270, and at the same time adopts the Z-direction ball screw 277 in the mechanical structure to further ensure the two Z Synchronization capability of direction drive assembly 270.
参见图2和图4,作为一种可实施方式,三次元送料机械臂310还包括循环装置400,循环装置400位于机械臂310的下方。当工件500在加工后出现废品时,可以通过循环系统将废品的工件500循环输送到机械臂310上,直至出现工件500合格。同时,三次元送料机械臂310还应该包括检测装置,检测装置安装在机架100上,控制装置与检测装置电连接。检测装置用于检测工件500加工后是否合格。检测装置检测工件500合格,则工件500开始进行下一道工序;检测装置检测工件500不合格(即为废品),循环系统开始工作,将不合格的工件500疏导到机械臂310上进行再次输送。Referring to FIG. 2 and FIG. 4 , as a possible implementation manner, the three-dimensional feeding robot arm 310 further includes a circulation device 400 , and the circulation device 400 is located below the robot arm 310 . When the workpiece 500 is waste after processing, the waste workpiece 500 can be conveyed to the mechanical arm 310 through the circulation system until the workpiece 500 is qualified. At the same time, the three-dimensional feeding robot arm 310 should also include a detection device, which is installed on the frame 100, and the control device is electrically connected to the detection device. The detection device is used to detect whether the workpiece 500 is qualified after processing. The detection device detects that the workpiece 500 is qualified, and then the workpiece 500 starts to proceed to the next process; the detection device detects that the workpiece 500 is unqualified (that is, it is a waste product), and the circulation system starts to work, and the unqualified workpiece 500 is guided to the mechanical arm 310 for retransmission.
循环装置400包括循环电机410、循环同步带、循环皮带轮420、循环电机齿轮、传送带430、导引轴440、升降气缸450和气缸连接顶杆。循环电机410安装在机架100上,同时在循环电机410的外侧安装电机外罩,保证安全。循环电机410齿轮安装在循环电机410的输出轴上,通过循环同步带将运动传递给循环皮带轮420。循环皮带轮420分别安装在机架100上,且循环皮带轮420的连线平行于机械臂310,传送带430套装在循环皮带轮420上,导引轴440安装在传送带430的两侧。循环电机410、循环同步带、循环电机齿轮、循环皮带轮420、传送带430和导引轴440构成一个皮带传输装置,不合格的工件500通过该皮带传输装置输送至机械臂310上。导引轴440起导向作用,使不合格工件500呈一字型传输。升降气缸450固定在机架100上,升降气缸450的端部安装气缸连接顶杆,气缸连接顶杆通过支撑固定板连接导引轴440。升降气缸450与气缸连接顶杆构成升降装置,用于将不合格的工件500顶起至机械臂310的夹爪320中。The circulation device 400 includes a circulation motor 410, a circulation synchronous belt, a circulation pulley 420, a circulation motor gear, a conveyor belt 430, a guide shaft 440, a lift cylinder 450 and a cylinder connecting push rod. The circulation motor 410 is installed on the frame 100, and a motor cover is installed on the outside of the circulation motor 410 to ensure safety. The gear of the circulation motor 410 is installed on the output shaft of the circulation motor 410, and the motion is transmitted to the circulation pulley 420 through the circulation synchronous belt. The endless belt pulleys 420 are installed on the frame 100 respectively, and the connecting line of the endless belt pulleys 420 is parallel to the mechanical arm 310 . The circulation motor 410, the circulation synchronous belt, the circulation motor gear, the circulation pulley 420, the conveyor belt 430 and the guide shaft 440 form a belt transmission device, and the unqualified workpiece 500 is transported to the mechanical arm 310 by the belt transmission device. The guide shaft 440 plays a guiding role, so that the unqualified workpiece 500 is transmitted in a straight line. The lifting cylinder 450 is fixed on the frame 100, and the end of the lifting cylinder 450 is installed with a cylinder connected to a push rod, and the cylinder connected to the push rod is connected to the guide shaft 440 through a supporting fixed plate. The lifting cylinder 450 is connected with the push rod to form a lifting device, which is used to lift the unqualified workpiece 500 into the jaw 320 of the mechanical arm 310 .
循环电机410的输出端通过循环同步带和循环电机齿轮将运动传递给皮带轮,循环皮带轮420带动传动带运动,升降气缸450运动带动气缸连接顶杆沿导引轴440运动,不合格工件500运动到气缸连接顶杆,升降气缸450动作,将不合格工件500顶起,实现不合格工件500的再次输送。在本实用新型中,传送带430为两个窄平皮带,不合格工件500就是通过与窄平皮带之间的静摩擦实现传输。升降气缸450能够将不合格工件500顶起,将送料工序与循环工序结合起来,实现工件500的循环加工工序。本实用新型的三次元送料机械手既完成了工件500的输送工序,又可以在输送末端出现不合格工件500时的情况下通过循环装置400进行再次输送,提高了生产效率,保证产品品质。The output end of the circulation motor 410 transmits the movement to the pulley through the circulation synchronous belt and the circulation motor gear, the circulation belt pulley 420 drives the transmission belt to move, the movement of the lifting cylinder 450 drives the movement of the cylinder connection ejector rod along the guide shaft 440, and the unqualified workpiece 500 moves to the cylinder Connect the push rod, and the lifting cylinder 450 acts to lift the unqualified workpiece 500 to realize the re-transport of the unqualified workpiece 500. In the present invention, the conveyor belt 430 is two narrow flat belts, and the unqualified workpiece 500 is transmitted through static friction with the narrow flat belts. The lifting cylinder 450 can lift the unqualified workpiece 500, and combine the feeding process with the circulation process to realize the circulation process of the workpiece 500. The three-dimensional feeding manipulator of the utility model not only completes the conveying process of workpieces 500, but also can convey them again through the circulation device 400 when unqualified workpieces 500 appear at the conveying end, thereby improving production efficiency and ensuring product quality.
作为一种可实施方式,夹爪320包括普通夹爪321和翻转夹爪322。夹爪320安装在机械臂310上,夹爪320用于夹取工件500,X方向驱动组件210、Y方向驱动组件240和Z方向驱动组件270共同作用带动机械臂310将工件500输送到指定位置。普通夹爪321用于夹取方向正确的工件500,翻转组件用于将方向不正确的工件500进行翻转,省去人工翻转工件500的工序,再通过机械臂310进行输送。夹爪320通过夹爪板安装在机械臂310上,以保证夹爪320能够成一字型排开。As a possible implementation manner, the jaws 320 include ordinary jaws 321 and inverted jaws 322 . The gripper 320 is installed on the mechanical arm 310, and the gripper 320 is used to grip the workpiece 500. The X-direction drive assembly 210, the Y-direction drive assembly 240, and the Z-direction drive assembly 270 work together to drive the mechanical arm 310 to transport the workpiece 500 to a designated position. . The ordinary gripper 321 is used to grip the workpiece 500 in the correct direction, and the turning component is used to turn over the workpiece 500 in the incorrect direction, which saves the process of turning the workpiece 500 manually, and then transports it through the mechanical arm 310 . The jaws 320 are installed on the mechanical arm 310 through the jaw plate, so as to ensure that the jaws 320 can be arranged in a straight line.
作为一种可实施方式,在X方向滑轨213、移动平台滑轨223、Y方向第一滑轨243、Y方向第二滑轨257和Z方向滑轨273的两端均设置限位牛筋接近开关,保证本实用新型的三次元送料机械手能够安全运行,限位牛筋接近开关能够保证三次元送料机械手回零点、程序出错急停。X方向滑轨213的两端安装有限位牛筋接近开关,通过安装限位牛筋接近开关实现X方向的归零、机械故障停机。移动平台滑轨223接近开关的两端安装有限位牛筋接近开关,通过安装限位牛筋接近开关实现X方向的归零、机械故障停机。Y方向第一滑轨243的两端安装有限位牛筋接近开关,通过安装限位牛筋接近开关实现Y方向的归零、机械故障停机。Z方向滑轨273的两端安装有限位牛筋接近开关,通过安装限位牛筋接近开关实现Z方向的归零、机械故障停机。As a possible implementation, the two ends of the X-direction slide rail 213, the mobile platform slide rail 223, the Y-direction first slide rail 243, the Y-direction second slide rail 257, and the Z-direction slide rail 273 are all provided with limiting tendons. The proximity switch ensures that the three-dimensional feeding manipulator of the utility model can run safely, and the limit beef tendon proximity switch can ensure that the three-dimensional feeding manipulator returns to zero and stops in an emergency due to program errors. The two ends of the X-direction slide rail 213 are equipped with a limit beef tendon proximity switch, and by installing a limit beef tendon proximity switch, the zeroing in the X direction and the mechanical failure shutdown are realized. Limit beef tendon proximity switches are installed at both ends of the mobile platform slide rail 223 proximity switch, and the zero return in the X direction and mechanical failure shutdown are realized by installing the limit beef tendon proximity switch. The two ends of the first slide rail 243 in the Y direction are equipped with a limit beef tendon proximity switch, and by installing a limit beef tendon proximity switch, the zero return in the Y direction and the mechanical failure shutdown are realized. The two ends of the Z direction slide rail 273 are installed with a limit beef tendon proximity switch, by installing a limit beef tendon proximity switch to realize zeroing in the Z direction and machine failure shutdown.
本实用新型中,至少包括两个机械臂310、一个X方向驱动组件210、两个Y方向驱动组件240和两个Z方向驱动组件270,其中X方向驱动组件210带动两个机械臂310同时沿X轴方向运动,两个Y方向驱动组件240带动两个机械臂相互靠近或远离,Z方向驱动组件270带动两个机械臂同时上升或下降。需要说明的是,一个X方向驱动组件210、两个Y方向驱动组件240和两个Z方向驱动组件270同时安装在两个机械臂310上。In the utility model, at least two mechanical arms 310, one X-direction drive assembly 210, two Y-direction drive assemblies 240 and two Z-direction drive assemblies 270 are included, wherein the X-direction drive assembly 210 drives the two mechanical arms 310 along the Moving in the X-axis direction, the two Y-direction driving components 240 drive the two mechanical arms to approach or move away from each other, and the Z-direction driving component 270 drives the two mechanical arms to rise or fall simultaneously. It should be noted that one X-direction driving assembly 210 , two Y-direction driving assemblies 240 and two Z-direction driving assemblies 270 are installed on two mechanical arms 310 at the same time.
以上所述实施例仅表达了本实用新型的几种实施方式,其描述较为具体和详细,但并不能因此而理解为对本实用新型专利范围的限制。应当指出的是,对于本领域的普通技术人员来说,在不脱离本实用新型构思的前提下,还可以做出若干变形和改进,这些都属于本实用新型的保护范围。因此,本实用新型专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only express several implementations of the utility model, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the utility model. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the scope of protection of the utility model patent should be based on the appended claims.
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CN105750438A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Three-dimensional punching mechanical arm |
CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
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CN105983963A (en) * | 2015-03-06 | 2016-10-05 | 中国科学院宁波材料技术与工程研究所 | Three-dimensional feeding manipulator |
CN105750438A (en) * | 2016-04-21 | 2016-07-13 | 佛山市顺德区凯硕精密模具自动化科技有限公司 | Three-dimensional punching mechanical arm |
CN108942198A (en) * | 2018-10-07 | 2018-12-07 | 海南大学 | Numerical control anury steel-wire screw-socket Fast Installation machine |
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CN110682276A (en) * | 2019-10-24 | 2020-01-14 | 河北工业大学 | Modularization lightweight arm motion platform |
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