CN213796487U

CN213796487U - Sucking disc formula transport five-axis manipulator

Info

Publication number: CN213796487U
Application number: CN202022197347.3U
Authority: CN
Inventors: 肖永飞; 赵健; 孙洁
Original assignee: Institute of Automation Shandong Academy of Sciences
Current assignee: Institute of Automation Shandong Academy of Sciences
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-07-27
Anticipated expiration: 2030-09-29

Abstract

The utility model provides a sucking disc formula transport five-axis manipulator, including stand and X axle support, be equipped with X axle support above the stand, be equipped with Y axle support on the X axle support, be equipped with Z axle support on the Y axle support, the lower extreme that Z axle supported is equipped with the rotation axis framework; the rotation axis framework includes sucking disc frame and sucking disc rotary drive, sucking disc rotary drive fixed mounting is on the sucking disc frame, sucking disc rotary drive's top fixed mounting has servo motor, the sucking disc frame of sucking disc frame for being the matrix arrangement, the below of sucking disc frame is equipped with the vacuum chuck that is the matrix arrangement, the position department that the Z axle supports and meets with the rotation axis framework is equipped with the third reduction gear, the rotation axis drive is installed to the top of third reduction gear.

Description

Sucking disc formula transport five-axis manipulator

Technical Field

The utility model belongs to manipulator equipment field, concretely relates to five manipulators of sucking disc formula transport.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

The manipulator is an automatic control device which simulates the function of a human arm and is used for grabbing, carrying objects or operating tools according to a fixed program. The manipulator aims to replace a person to complete production automation and protect the working safety of the person in a complex dangerous environment. From the joint structure, the five-axis manipulator belongs to a multi-axis manipulator.

The five-axis manipulator is supported by an X shaft, a Y shaft and a Z shaft, the overturning shaft is constructed by a sucker frame and is controlled by a servo motor, a touch screen and a PLC. In the middle of the production process, too much production space is not occupied to this structure, and to some precision instruments, fragile article not only can guarantee handling efficiency, and the security can also be guaranteed to sucking disc formula structure.

However, the existing five-axis manipulator for carrying has the following defects in the using process:

the existing carrying manipulator often cannot grab fragile and easily damaged articles, and the existing sucker type carrying manipulator usually adopts one or two large suckers, so that the stability is poor, and the safety of the articles cannot be ensured; after an object is grabbed, most mechanical hands in the market cannot realize quick steering of the grabbed part.

An industrial manipulator usually performs repeated actions to complete the same process, a power source of the manipulator is an alternating current servo motor, the servo motor can realize speed regulation due to pulse signal driving, but in order to ensure process quality, the requirements on positioning precision and repeated positioning precision of the manipulator are high, and therefore a speed reducer is required. Another important function of the speed reducer is to transmit a larger torque, and when the load is larger, the output torque can be increased through the speed reducer in a proper speed range. The speed reducer can enable the servo motor to run at a proper speed, accurately reduce the rotating speed to the speed required by each part of the industrial manipulator, improve the rigidity of the mechanical body and output larger torque.

Disclosure of Invention

The utility model aims at solving the breakable easy bad article of current five-axis manipulator device of unable transport to current sucking disc formula structure only adopts less sucking disc to absorb usually, leads to the poor stability of during operation easily, has provided a five-axis manipulator of sucking disc formula transport, the utility model is simple in operation, the practicality is strong.

According to some embodiments, the utility model adopts the following technical scheme:

a suction cup type five-axis conveying manipulator comprises a stand column and an X-axis support, wherein the X-axis support is arranged above the stand column, a Y-axis support is arranged on the X-axis support, a Z-axis support is arranged on the Y-axis support, and a rotating shaft framework is arranged at the lower end of the Z-axis support; the rotation axis framework includes sucking disc frame and sucking disc rotary drive, sucking disc rotary drive fixed mounting is on the sucking disc frame, sucking disc rotary drive's top fixed mounting has servo motor, the sucking disc frame of sucking disc frame for being the matrix arrangement, the below of sucking disc frame is equipped with the vacuum chuck that is the matrix arrangement, the position department that the Z axle supports and meets with the rotation axis framework is equipped with the third reduction gear, the rotation axis drive is installed to the top of third reduction gear. The purpose of the third speed reducer is to improve the positioning accuracy and increase the output torque.

Preferably, the suction cup frame further comprises a suction cup mounting beam and a travel switch, the travel switch is mounted on the suction cup frame, and the suction cup frame is mounted on the suction cup mounting beam.

Preferably, the X-axis support is of a guide rail structure and comprises a bearing, a first synchronous belt, a first servo motor and a first speed reducer, the bearing is arranged at one end of the X-axis support, the bearing connects the first synchronous belt, the first servo motor and the first speed reducer, the first speed reducer is arranged on one side of the first servo motor and connected with the first servo motor, and an X-axis drive is fixedly connected above the first servo motor.

Preferably, the X-axis support further comprises an X-axis limiting part, a guide rail frame and an X-axis drag chain groove, the X-axis limiting part is arranged at the position of the edge of the two ends of the X-axis support, the guide rail frame is arranged on the two sides of the X-axis support, the first synchronous belt and the X-axis guide rail are connected and installed on the guide rail frame, and a detachable X-axis nylon drag chain is arranged in the X-axis drag chain groove.

Preferably, the Y axle supports and is the guide rail structure, including second hold-in range, slider, second hold-in range and Y axle guide rail are connected and install on the guide rail mounting bracket, the one end of guide rail mounting bracket is provided with the balancing weight in the very edge, the slider is connected with the epaxial first hold-in range of X, the second hold-in range still is connected with the second reduction gear, one side fixedly connected with second servo motor of second reduction gear, second reduction gear and second servo motor constitute Y axle drive jointly.

Preferably, the Y-axis support further comprises a Y-axis drag chain groove, a detachable Y-axis nylon drag chain is arranged in the Y-axis drag chain groove, and the Y-axis drag chain groove is further connected with a second servo motor.

Preferably, the Z-axis support comprises a Z-axis nylon tow chain and a Z-axis drive, and the Z-axis nylon tow chain is arranged on one side of the Z-axis guide rail.

Preferably, the Z-axis support further comprises Z-axis limits, and the Z-axis limits are arranged at two ends of the Z-axis support.

Preferably, the upright column consists of an upper upright column and a lower upright column, the upper upright column is fixedly connected with a guide rail frame supported by an X-axis, and the lower upright column is fixedly connected with the control cabinet.

Preferably, be equipped with the alarm on the lateral wall of switch board, the alarm is connected with the touch-sensitive screen that sets up on the switch board cabinet door, be provided with switching power supply, PLC module, driver and heavily loaded connector in the switch board.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this five-axis manipulator of sucking disc formula transport adopts that the X axle removes, and the Y axle removes, and the Z axle removes, and the A rotation of axes, the rotatory cooperative control sucking disc frame of B axle can realize all-round, and is multi-level, three-dimensional, the transport of wide angle, such structure makes control area bigger more accurate.

2. The mode that the hold-in range drove the motion of multiunit slider on the guide rail is all used on this five-axis manipulator of sucking disc formula transport's X axle Y axle Z axle, and each driving shaft all includes servo motor and reduction gear, and such structure can improve the positioning accuracy and the repeated positioning accuracy of manipulator to the operability is simple, and the practicality is strong.

3. This bottom sucking disc frame of five manipulators of sucking disc formula transport adopts 4 x 3's sucking disc array, compares in big sucking disc commonly used, and the sucking disc array can increase the area of face of taking, improves the stability of absorption, and the practicality is strong.

Drawings

The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.

FIG. 1 is a schematic structural diagram of a suction cup type five-axis carrying manipulator;

FIG. 2 is a schematic diagram of the structure of the X-axis support of FIG. 1;

FIG. 3 is a schematic diagram of the structure of the Y-axis support of FIG. 1;

FIG. 4 is a schematic view of the Z-axis support, the rotary shaft and the suction cup holder of FIG. 1;

FIG. 5 is a schematic diagram of the control cabinet of FIG. 1;

FIG. 6 is a schematic view of the suction cup holder;

FIG. 7 is a schematic view of the connection structure of the suction cup holder and the Z-axis support;

the automatic control device comprises a control cabinet 1, a stand column 2, an X-axis guide rail 3, an X-axis drive 4, a sliding block 5, a Y-axis guide rail 6, a Y-axis drive 7, a Z-axis drive 8, a Z-axis guide rail 9, a rotating shaft drive 10, a sucker rotation drive 11 and a sucker frame 12, wherein the control cabinet is provided with a control cabinet, the stand column 2, the X-axis guide rail 3, the X-axis drive 4, the sliding block 5, the Y-axis guide rail 6, the Y-axis drive 7, the Z-axis drive 8, the Z-axis guide rail 10, the rotating shaft drive 11 and the sucker rotation drive 12;

101 is a bearing, 102 is a first synchronous belt, 103 is an X-axis limit, 104 is a guide rail frame, 105 is an X-axis nylon drag chain, 106 is an X-axis drag chain groove, 107 is a first servo motor, and 108 is a first speed reducer;

202 is a second synchronous belt, 204 is a guide rail mounting frame, 205 is a Y-axis drag chain groove, 206 is a Y-axis nylon drag chain, 208 is a second speed reducer, and 209 is a balancing weight;

301 is a vacuum chuck, 302 is a chuck mounting beam, 303 is a chuck frame, 304 is a Z-axis limit, 305 is a Z-axis nylon drag chain, 306 is a third reducer, 307 is a third servo motor, and 308 is a travel switch;

the device is characterized in that the device 401 is a 400W driver, the device 402 is a 750W driver, the device 403 is a 1.3KW-1.8KW driver, the device 404 is a PLC module, the device 405 is a switching power supply, the device 406 is an alarm lamp, the device 407 is a touch screen, and the device 408 is a 24-core heavy-load connector.

The specific implementation mode is as follows:

the present invention will be further explained with reference to the accompanying drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

In the present invention, the terms such as "upper", "lower", "side", "bottom", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, and only the relation words determined for the convenience of describing the structural relationship of the components or elements of the present invention, which are not specific to any component or element of the present invention, and are not to be construed as limiting the present invention.

In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The meaning of the above terms in the present invention can be determined according to specific situations by persons skilled in the art, and should not be construed as limiting the present invention.

The utility model relates to a five-axis manipulator of sucking disc formula transport, at the during operation, let mains operated give the motor earlier, the motor passes through wire and switch board 1 in the nylon tow chain, touch-sensitive screen 407 is connected, after the start-up, can control X axle drive 4 through touch-sensitive screen 407 selection control procedure and let the manipulator remove about X axle guide rail 3, control Y axle drive 7 lets the manipulator move back and forth on Y axle guide rail 6, control Z axle drive 8 lets the manipulator reciprocate on Z axle guide rail 9, control rotation axis drive 10 lets sucking disc frame 12 rotatory selection position on A axle direction, control sucking disc rotary drive 11 lets sucking disc frame 12 rotatory absorption on B axle direction, the control process is accomplished to the accuracy.

As shown in fig. 1, in the embodiment of the present invention, a suction cup type five-axis manipulator for carrying includes a control cabinet 1, a column 2, an X-axis guide rail 3, an X-axis drive 4, a slider 5, a Y-axis guide rail 6, a Y-axis drive 7, a Z-axis drive 8, a Z-axis guide rail 9, a rotation axis drive 10, a suction cup rotation drive 11, and a suction cup frame 12; wherein the lower part of the upright post 2 is fixedly connected with the control cabinet 1, the upper part of the upright post 2 is fixedly connected with the X-axis guide rail 3, the slide block 5 is connected with the Y-axis guide rail 6 and the X-axis guide rail 3, and the sucker rotary drive 11 is connected with the rotary shaft drive 10 and the sucker frame 12. The X-axis guide rail 3 is controlled by an X-axis drive 4, the Y-axis guide rail 6 is controlled by a Y-axis drive 7, and the Z-axis guide rail 9 is controlled by a Z-axis drive 8.

As shown in fig. 2, the X-axis support is mainly a rail structure including: the device comprises a bearing 101, a first synchronous belt 102, an X-axis limit 103, a guide rail frame 104, an X-axis nylon drag chain 105, an X-axis drag chain groove 106, a first servo motor 107 and a first speed reducer 108. The bearing 101 is connected with a first synchronous belt 102, a first servo motor 107 and a first reducer 108, the first synchronous belt 102 and a guide rail frame 104 are used for controlling the position of the sucker moving to the X axis of an object, the X axis limit 103 and the limit in front of the first servo motor 107 are used for preventing the slider from separating from the track, an X axis nylon drag chain 105 is connected with an X axis drag chain groove 106 and used for protecting a signal line or an electric wire, and the first reducer 108 is used for improving the control precision and increasing the output torque.

As shown in fig. 3, the Y-axis support is mainly a rail structure including: the device comprises a sliding block 5, a second synchronous belt 202, a Y-axis guide rail 6, a guide rail mounting frame 204, a Y-axis drag chain groove 205, a Y-axis nylon drag chain 206, a second servo motor 207, a second speed reducer 208 and a balancing weight 209. The slider 5 is connected with a first synchronous belt on the X axis and is used for adjusting the position on the X axis. The second timing belt 202 is connected to the Y-axis guide rail 6 and is installed on the rail mounting bracket 204 to control the position of the suction cup moving to the Y-axis direction of the object, the Y-axis nylon tow chain 206 is connected to the Y-axis tow chain groove 205, and the second servo motor 207 is connected to the Y-axis tow chain groove 205 to drive the second timing belt. The second speed reducer 208 is connected to the second timing belt 202 to improve the control accuracy and increase the output torque, and the counterweight 209 is disposed at the edge of the rail mounting bracket 204 to maintain the balance on the Y axis during the grabbing process.

As shown in fig. 4, the structure of the Z-axis support, the rotation axis and the suction cup holder includes: the device comprises a vacuum chuck 301, a chuck mounting beam 302, a chuck frame 303, a Z-axis guide rail 9, a Z-axis limit 304, a Z-axis nylon drag chain 305, a third speed reducer 306, a third servo motor 307 and a travel switch 308. The suction cup frame 303 is composed of 4 x 3 array vacuum suction cups 301 for sucking components with different placing positions, and can grab in a large area to realize 180-degree turnover. The Z-axis guide rail 9 is used for controlling the position of the sucker moving to the Z-axis direction of an object, the Z-axis limit 304 is positioned at the extreme edge of the Z-axis guide rail 9 and used for preventing the sucker from exceeding a control range, the Z-axis nylon drag chain 305 is used for protecting a signal wire or a wire used for transmitting a control command, the third speed reducer 306 is connected with the third servo motor 307, the third speed reducer 306 is used for improving control precision and increasing output torque, the third servo motor 307 is used for controlling the rotation of the third synchronous belt, and the stroke switch 308 is positioned on the sucker frame 303 and used for converting mechanical displacement into an electric signal and changing the motion state at any time so as to control mechanical action or be used for program control.

As shown in fig. 5, the control cabinet includes: 400W driver 401, 750W driver 402, 1.3KW-1.5KW driver 403, PLC module 404, switching power supply 405, alarm lamp 406, touch screen 407, 24-core heavy-load connector 408. The touch screen 407 selects a control mode, and issues a control command to the PLC module 408 to coordinate all the servo motors to complete a control action.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. A suction cup type five-axis conveying manipulator comprises a stand column and an X-axis support, wherein the X-axis support is arranged above the stand column, a Y-axis support is arranged on the X-axis support, a Z-axis support is arranged on the Y-axis support, and a rotating shaft framework is arranged at the lower end of the Z-axis support; the vacuum chuck is characterized in that the rotating shaft framework comprises a chuck frame and a chuck rotary drive, the chuck rotary drive is fixedly installed on the chuck frame, a servo motor is fixedly installed above the chuck rotary drive, the chuck frame is a chuck frame arranged in a matrix, vacuum chucks arranged in the matrix are arranged below the chuck frame, a third speed reducer is arranged at the position where the Z shaft support is connected with the rotating shaft framework, and a rotating shaft drive is installed above the third speed reducer.

2. The five-axis robot for sucker-type handling of claim 1, wherein the sucker frame further comprises a sucker mounting beam and a travel switch, the travel switch is mounted on the sucker frame, and the sucker frame is mounted on the sucker mounting beam.

3. The five-axis robot for sucker-type handling of workpieces as claimed in claim 1, wherein the X-axis support is a rail structure and comprises a bearing, a first synchronous belt, a first servo motor and a first reducer, the bearing is disposed at one end of the X-axis support, the bearing connects the first synchronous belt and the first servo motor with the first reducer, the first reducer is disposed at one side of the first servo motor and connected with the first servo motor, and an X-axis drive is fixedly connected above the first servo motor.

4. The five-axis robot for sucker-type handling of claim 3, wherein the X-axis support further comprises an X-axis limit disposed at the most peripheral position of both ends of the X-axis support, a guide rail frame disposed at both sides of the X-axis support, and an X-axis drag chain groove in which a detachable X-axis nylon drag chain is disposed, the first synchronization belt being connected to the X-axis guide rail and mounted on the guide rail frame.

5. The five-axis manipulator of sucking disc formula transport of claim 1, characterized in that, the Y axle supports to be the guide rail structure, includes second hold-in range, slider, second hold-in range and Y axle guide rail are connected and are installed on the guide rail mounting bracket, the one end extreme edge of guide rail mounting bracket is provided with the balancing weight, the slider is connected with the epaxial first hold-in range of X, the second hold-in range still is connected with the second reduction gear, one side fixedly connected with second servo motor of second reduction gear, second reduction gear and second servo motor constitute Y axle drive jointly.

6. The five-axis sucker-type handling manipulator according to claim 5, wherein the Y-axis support further comprises a Y-axis drag chain groove, a detachable Y-axis nylon drag chain is arranged in the Y-axis drag chain groove, and the Y-axis drag chain groove is further connected with a second servo motor.

7. The five-axis robot for sucker-type handling of claim 1, wherein the Z-axis support comprises a Z-axis nylon tow chain and a Z-axis drive, and the Z-axis nylon tow chain is disposed on one side of the Z-axis guide rail.

8. The five-axis robotic chuck-type handling robot of claim 7, wherein the Z-axis support further comprises Z-axis stops disposed at both ends of the Z-axis support.

9. The five-axis robot for sucker type handling of claim 1, wherein the column comprises an upper column and a lower column, the upper column is fixedly connected with a guide rail frame supported by an X-axis, and the lower column is fixedly connected with a control cabinet.

10. The five-axis manipulator of sucker-type transport, as claimed in claim 9, wherein the outer side wall of the control cabinet is provided with an alarm connected to a touch screen disposed on the door of the control cabinet, and the control cabinet is provided with a switching power supply, a PLC module, a driver and a heavy-duty connector.