CN215467661U

CN215467661U - Robot servo sliding gripper for carrying between large punching machines

Info

Publication number: CN215467661U
Application number: CN202122913724.3U
Authority: CN
Inventors: 武凯; 高帆; 刘国昭
Original assignee: Kawasaki Robot Tianjin Co ltd
Current assignee: Kawasaki Robot Tianjin Co ltd
Priority date: 2021-11-25
Filing date: 2021-11-25
Publication date: 2022-01-11
Anticipated expiration: 2031-11-25

Abstract

The utility model discloses a robot servo sliding gripper for carrying between large punching machines, which comprises a main body frame, a driving device assembly, a lifting device, a rotating seat and an end effector assembly. The lifting device comprises a longitudinal guide rail, a lifting column, a first motor and a longitudinal transmission piece. The rotating seat comprises an upper rotating seat, a lower rotating seat, a circumferential transmission part and a second motor, and the top of the upper rotating seat is installed at the bottom of the lifting column. The top of the driving device assembly is arranged at the bottom of the lower rotary seat. The main body frame comprises a main body longitudinal beam, an upper guide rail and a lower guide rail, the upper guide rail is arranged at the top of the main body longitudinal beam, the lower guide rail is arranged at the bottom of the main body longitudinal beam, the bottom of the driving device assembly is arranged on the upper guide rail in a sliding mode, and the end effector assembly is arranged on the lower guide rail in a sliding mode. The utility model realizes the operation of the sliding gripper in the direction of the X, Y, Z axis, improves the flexibility of the sliding gripper, is suitable for relatively complex working environment and improves the production efficiency.

Description

Robot servo sliding gripper for carrying between large punching machines

Technical Field

The utility model relates to the technical field of mechanical arms, in particular to a robot servo sliding gripper for carrying between large punching machines.

Background

Metal stamping is an essential link in sheet metal processing, and is widely applied to the production process of industries such as automobiles, household appliances, machinery and electricity. In recent years, with the popularization of automation, more and more manufacturers use industrial robots instead of workers to carry various workpieces, particularly large workpieces, between press apparatuses.

However, because the action angle and range of the robot are limited, the workpiece transportation between large-scale punching machines can be realized by adding a transfer table or an additional robot, so that the production cost is greatly increased, and the later-stage production debugging is not facilitated; meanwhile, as additional action steps are added, negative effects are also generated on the improvement of the production efficiency.

Therefore, in order to solve the above technical problems, it is highly desirable to design a servo sliding gripper for a large-sized inter-press transfer robot, which can perform multi-angle motion, and which can expand the operating range of an industrial robot and has high work efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to improve the problems and provides a servo sliding gripper for a large-sized transfer robot between punching machines.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the robot servo sliding gripper for conveying between large punching machines comprises a main body frame, a driving device assembly, a lifting device, a rotating seat and an end effector assembly. The lifting device comprises a longitudinal guide rail, a lifting column, a first motor and a longitudinal transmission member, wherein the longitudinal guide rail is installed on the side face of the lifting column, the longitudinal transmission member is installed on the longitudinal guide rail in a sliding mode, the first motor is installed and connected with the longitudinal transmission member, and the first motor is used for controlling the longitudinal transmission member to slide on the longitudinal guide rail.

The rotating seat comprises an upper rotating seat, a lower rotating seat, a circumference transmission part and a second motor, the top of the upper rotating seat is installed at the bottom of the lifting column, the top of the circumference transmission part is fixedly connected with the bottom of the upper rotating seat, the bottom of the circumference transmission part is rotatably connected with the top of the lower rotating seat, the second motor is installed on the side face of the circumference transmission part, and the second motor is used for controlling the circumference transmission part to enable the lower rotating seat to rotate relative to the upper rotating seat.

The top of the driving device assembly is arranged at the bottom of the lower rotary seat. The main body frame comprises a main body longitudinal beam, an upper guide rail and a lower guide rail, the upper guide rail is arranged at the top of the main body longitudinal beam, the lower guide rail is arranged at the bottom of the main body longitudinal beam, the bottom of the driving device assembly is slidably arranged on the upper guide rail, and the end effector assembly is slidably arranged on the lower guide rail.

The end effector assembly comprises a lower carriage and a sucker support, the sucker support is detachably connected with the lower carriage, a plurality of sucker clamps are detachably mounted on the sucker support, and the sucker clamps are detachably connected with vacuum suckers.

Preferably, the driving device assembly comprises a shell support, a third motor, a speed reducer and an upper dragging plate, the top of the shell support is connected with the bottom of the lower rotary seat, the upper dragging plate is installed at the bottom of the shell support, and a belt upper pressing plate is installed at the bottom of the upper dragging plate.

And a belt lower pressing plate is arranged at the top of the lower carriage.

The main body frame further comprises a first transmission belt and a second transmission belt, the first transmission belt and the second transmission belt are installed inside the main body longitudinal beam, the first transmission belt bypasses the inside of the driving device assembly and is connected with the upper carriage through a belt upper pressing plate, the first transmission belt is used for enabling the main body frame to generate relative displacement with the driving device assembly along the upper guide rail under the driving of a third motor, the second transmission belt bypasses the inside of the driving device assembly and is connected with the lower carriage through a belt lower pressing plate, and the second transmission belt is used for enabling the picking-up device assembly to slide along the lower guide rail under the driving of the third motor.

Preferably, the housing bracket is mounted above the upper carriage, the speed reducer is mounted on the side surface of the housing bracket, and the third motor is mounted at one end of the speed reducer, which is far away from the housing bracket.

Preferably, the driving device assembly further comprises a filter, an electromagnetic valve, a driving belt adjusting screw, a synchronous belt adjusting screw and a ball sliding block, the ball sliding block is arranged at the bottom of the upper carriage and is matched with the upper guide rail, and the main body frame slides relative to the driving device assembly. The filter is arranged on the front face of the shell support, the electromagnetic valve is arranged on the back face of the shell support, the driving belt adjusting screw is arranged on the upper portion of the shell support, the first driving belt can be tensioned or loosened by adjusting the driving belt adjusting screw, the synchronous belt adjusting screw is arranged at the bottom of the upper dragging plate, and the first driving belt and the second driving belt can be simultaneously tensioned or loosened by adjusting the synchronous belt adjusting screw.

Preferably, the main body frame further comprises a pulley upper guard plate, an end shield, a pulley end cover and an end wheel assembly which are mounted on the main body longitudinal beam, the pulley upper guard plate is mounted on the upper portion of the main body longitudinal beam, and the end shield, the pulley end cover and the end wheel assembly are mounted at the end portion of the main body longitudinal beam.

Preferably, the top of the lower carriage is further provided with a guide rail sliding block, the guide rail sliding block is matched with the lower guide rail, and the guide rail sliding block is matched with the lower guide rail, so that the end effector assembly slides relative to the main body frame.

Preferably, the longitudinal guide rail, the upper guide rail and the lower guide rail are all made of carbon steel grade stainless steel, and the body longitudinal beam is made of aluminum alloy.

Preferably, a zero plate is further arranged at the top of the lower carriage.

Preferably, a manipulator connecting flange is mounted on one side, far away from the longitudinal guide rail, of the longitudinal transmission member, and the manipulator connecting flange is used for being connected with an external manipulator.

Preferably, the first motor, the second motor and the third motor are all servo motors, and encoders are arranged on the first motor, the second motor and the third motor, and are used for recording the rotary displacement of the servo motors and sending the rotary displacement to the robot driving unit to correct the motion of the robot.

In conclusion, the beneficial technical effects of the utility model are as follows:

1. the sliding gripper can run in the X-axis direction by matching the driving device assembly, the main body frame and the end effector assembly, and can run in the X-axis direction and the Y-axis direction by matching the rotating seat to adjust the direction of the main body frame, and the lifting device enables the sliding gripper to run in the Z-axis direction. Through the components, the sliding hand grab runs in the direction of the X, Y, Z shaft, the flexibility of the sliding hand grab is improved, and the sliding hand grab is more suitable for complex working environments.

2. The main body frame and the end effector assembly move in the same direction under the driving of the driving device assembly, the end effector assembly can slide on the lower guide rail at the bottom of the main body frame relatively, the running speed of the end effector assembly is greatly increased on a limited guide rail distance compared with that of a traditional robot, the running speed of the robot is increased, and the production efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a front view of a servo sliding gripper of a large transfer robot between punching machines according to the present invention;

FIG. 2 is a top view of the servo sliding gripper of the robot for transferring between large punching machines according to the present invention;

FIG. 3 is a side view of a servo sliding gripper of a transfer robot for a large press room according to the present invention;

FIG. 4 is a schematic structural view of a main frame in a servo sliding gripper of a robot for transferring between large stamping machines according to the present invention;

FIG. 5 is a schematic structural view of a driving device assembly in a servo sliding gripper of a transfer robot for a large-scale press room according to the present invention;

fig. 6 is a schematic structural view of the middle pickup assembly of the servo sliding gripper of the robot for transferring between large-sized stamping machines according to the present invention.

Reference numerals: 1. a lifting device; 11. a lifting column; 12. a longitudinal guide rail; 13. a first motor; 14. a longitudinal drive member; 15. the manipulator is connected with a flange;

2. a rotating base; 21. an upper screwing seat; 22. a lower rotary seat; 23. a circumferential transmission member; 24. a second motor;

3. a main body frame; 31. a body stringer; 32. an upper guide rail; 33. a first drive belt; 34. a second belt; 35. a pulley upper guard plate; 36. an end shield; 37. a pulley end cover; 38. combining end wheels;

4. a drive assembly; 41. a housing bracket; 42. an upper carriage; 43. a third motor; 44. a speed reducer; 45. a filter; 46. an electromagnetic valve; 47. a ball slider;

5. an end effector assembly; 51. a lower carriage; 52. a suction cup holder; 53. a sucker clamp; 54. a vacuum chuck; 55. a guide rail slider; 56. a belt lower pressing plate; 57. a zero plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Examples

As shown in fig. 1, 2, 3, 4, 5 and 6, the servo sliding gripper of the transfer robot for large press room includes a main frame 3, a driving device assembly 4, a lifting device 1, a rotary base 2 and an end effector assembly 5.

Referring to fig. 1, 2 and 3, the lifting device 1 includes a longitudinal guide rail 12, a lifting column 11, a first motor 13 and a longitudinal transmission member 14. The longitudinal guide rail 12 is arranged on the side surface of the lifting column 11, and the longitudinal transmission member 14 is arranged on the longitudinal guide rail 12 in a sliding way. The first motor 13 is installed and connected with the longitudinal transmission member 14, and the first motor 13 is used for controlling the longitudinal transmission member 14 to slide on the longitudinal guide rail 12. A manipulator connecting flange 15 is mounted on one side of the longitudinal transmission member 14 far away from the longitudinal guide rail 12, and the manipulator connecting flange 15 is used for being connected with an external manipulator.

The rotary base 2 comprises an upper rotary base 21, a lower rotary base 22, a circumferential transmission member 23 and a second motor 24. The top of the upper rotating seat 21 is installed at the bottom of the lifting column 11, the top of the circumferential transmission member 23 is fixedly connected with the bottom of the upper rotating seat 21, and the bottom of the circumferential transmission member 23 is rotatably connected with the top of the lower rotating seat 22. The second motor 24 is installed on the side surface of the circumferential transmission member 23, and the second motor 24 is used for controlling the circumferential transmission member 23 so that the lower rotary base 22 rotates relative to the upper rotary base 21.

Referring to fig. 1 and 5, the top of the drive assembly 4 is mounted to the bottom of the underslung 22. The driving device assembly 4 comprises a filter 45, an electromagnetic valve 46, a driving belt adjusting screw, a synchronous belt adjusting screw, a ball sliding block 47, a shell bracket 41, a third motor 43, a speed reducer 44 and an upper dragging plate 42.

The top of the shell bracket 41 is connected with the bottom of the lower rotary seat 22, the upper carriage 42 is installed at the bottom of the shell bracket 41, and the bottom of the upper carriage 42 is provided with the belt upper pressing plate.

The housing bracket 41 is arranged above the upper carriage 42, the speed reducer 44 is arranged on the side surface of the housing bracket 41, and the third motor is arranged at one end of the speed reducer 44 far away from the housing bracket 41.

The ball sliding block 47 is arranged at the bottom of the upper carriage 42, and the ball sliding block 47 is matched with the upper guide rail 32. The ball slider 47 is engaged with the upper rail 32 so that the main body frame 3 slides with respect to the drive device assembly 4.

The filter 45 is provided on the front surface of the housing holder 41, and the solenoid valve 46 is provided on the rear surface of the housing holder 41. The driving belt adjusting screw is arranged at the upper part of the shell bracket 41, and the first driving belt can be tensioned or loosened by adjusting the driving belt adjusting screw. The synchronous belt adjusting screw is arranged at the bottom of the upper dragging plate 42, and the first transmission belt and the second transmission belt can be simultaneously tensioned or loosened by adjusting the synchronous belt adjusting screw.

Referring to fig. 2 and 4, the body frame 3 includes a body side member 31, an upper rail 32, a lower rail, a first transmission belt and a second transmission belt installed inside the body side member 31, a pulley upper guard plate 35 installed on the body side member 31, an end shield 36, a pulley end cover 37, and an end wheel assembly 38.

The upper guide rail 32 is arranged on the top of the body longitudinal beam 31, and the lower guide rail is arranged on the bottom of the body longitudinal beam 31. The bottom of the drive assembly 4 is slidably mounted on the upper rail 32 and the end effector assembly 5 is slidably mounted on the lower rail.

The first transmission belt passes around the inside of the driving device assembly 4 and is connected with the upper carriage 42 through a belt upper pressing plate, and the first transmission belt is used for enabling the main body frame 3 to generate relative displacement with the driving device assembly 4 along the upper guide rail 32 under the driving of a third motor 43.

A second belt passes around the interior of the drive assembly 4 and is connected to the lower carriage 51 by a belt lower platen 56, the second belt being adapted to slide the end effector assembly 5 along the lower track upon actuation by the third motor 43.

The pulley upper guard plate 35 is attached to the upper part of the body side member 31, and the end shield 36, the pulley end cover 37, and the end wheel assembly 38 are attached to the end part of the body side member 31.

Referring to fig. 3 and 6, the end effector assembly 5 includes a lower carriage 51 and a suction cup holder 52, and the suction cup holder 52 is detachably connected to the lower carriage 51.

The sucker support 52 is detachably provided with a plurality of sucker cards 53, the sucker cards 53 are detachably connected with vacuum suckers 54, and the top of the lower carriage 51 is provided with a belt lower pressing plate 56.

The top of the lower carriage 51 is further provided with a guide rail sliding block 55, the guide rail sliding block 55 is matched with the lower guide rail, and the guide rail sliding block 55 is matched with the lower guide rail, so that the end effector assembly 5 slides relative to the main body frame 3. The top of the lower carriage 51 is also provided with a zero plate 57.

The longitudinal rail 12, the upper rail 32, and the lower rail are each made of carbon steel grade stainless steel, and the body side member 31 is made of aluminum alloy.

The first motor 13, the second motor 24 and the third motor 43 are all servo motors, and encoders are arranged on the first motor 13, the second motor 24 and the third motor 43 and used for recording the rotary displacement of the servo motors and sending the rotary displacement to the robot driving unit to correct the motion of the robot.

The working principle and the beneficial effects of the utility model are as follows:

in operation, the manipulator attachment flange 15 is mounted on six axes of the external robot. Starting the motors, the first motor 13 controls the longitudinal transmission member 14 to slide on the longitudinal guide rail 12, and the longitudinal transmission member 14 moves relative to the lifting column 11. Since the longitudinal transmission member 14 is connected to the external robot through the robot connecting flange 15, the horizontal position of the longitudinal transmission member 14 is kept stationary, so that the lifting column 11 moves up and down, and then the rotary base 2, the main body frame 3, the driving device assembly 4 and the end effector assembly 5 connected thereto are driven to move up and down.

The second motor 24 controls the circumferential transmission member 23 to rotate the lower rotary base 22 relative to the upper rotary base 21, so as to drive the main frame 3, the driving device assembly 4 and the end effector assembly 5 connected thereto to rotate.

The third motor 43 drives the first belt 33 and the second belt 34, the first belt 33 drives the main body frame 3 to move along the upper rail 32 and the driving device assembly 4, and the second belt drives the end effector assembly 5 to slide along the lower rail. And because the first transmission belt 33 and the second transmission belt 34 are driven by the third motor 43 to transmit simultaneously, the running speed of the robot is greatly improved in comparison with that of the traditional robot in a limited guide rail distance, and the running speed of the robot is improved.

Through the components, the sliding hand grab runs in the direction of the X, Y, Z shaft, the flexibility of the sliding hand grab is improved, and the sliding hand grab is more suitable for complex working environments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The servo slip tongs of robot for transport between large-scale punching machine, its characterized in that: comprises a main body frame (3), a driving device assembly (4), a lifting device (1), a rotating seat (2) and an end effector assembly (5); the lifting device (1) comprises a longitudinal guide rail (12), a lifting column (11), a first motor (13) and a longitudinal transmission piece (14), wherein the longitudinal guide rail (12) is installed on the side surface of the lifting column (11), the longitudinal transmission piece (14) is installed on the longitudinal guide rail (12) in a sliding mode, and the first motor (13) is installed and connected with the longitudinal transmission piece (14); the rotating seat (2) comprises an upper rotating seat (21), a lower rotating seat (22), a circumferential transmission part (23) and a second motor (24), the top of the upper rotating seat (21) is installed at the bottom of the lifting column (11), the top of the circumferential transmission part (23) is fixedly connected with the bottom of the upper rotating seat (21), the bottom of the circumferential transmission part (23) is rotatably connected with the top of the lower rotating seat (22), and the second motor (24) is installed on the side surface of the circumferential transmission part (23); the top of the driving device assembly (4) is arranged at the bottom of the lower rotary seat (22); the main body frame (3) comprises a main body longitudinal beam (31), an upper guide rail (32) and a lower guide rail, the upper guide rail (32) is installed at the top of the main body longitudinal beam (31), the lower guide rail is installed at the bottom of the main body longitudinal beam (31), the bottom of the driving device assembly (4) is installed on the upper guide rail (32) in a sliding mode, and the end effector assembly (5) is installed on the lower guide rail in a sliding mode; the end effector assembly (5) comprises a lower carriage (51) and a sucker support (52), the sucker support (52) is detachably connected with the lower carriage (51), a plurality of sucker cards (53) are detachably mounted on the sucker support (52), and the sucker cards (53) are detachably connected with vacuum suckers (54).

2. The large scale inter-press transfer robot servo sliding gripper of claim 1, wherein: the driving device assembly (4) comprises a shell support (41), a third motor (43), a speed reducer (44) and an upper carriage (42), the top of the shell support (41) is connected with the bottom of the lower rotary seat (22), the upper carriage (42) is installed at the bottom of the shell support (41), and a belt upper pressing plate is installed at the bottom of the upper carriage (42); a belt lower pressing plate (56) is arranged at the top of the lower carriage (51); the main body frame (3) further comprises a first transmission belt (33) and a second transmission belt (34) which are installed inside the main body longitudinal beam (31), the first transmission belt (33) bypasses the inside of the driving device assembly (4) and is connected with the upper carriage (42) through a belt upper pressing plate, and the second transmission belt (34) bypasses the inside of the driving device assembly (4) and is connected with the lower carriage (51) through a belt lower pressing plate (56).

3. The large scale inter-press transfer robot servo sliding gripper of claim 2, wherein: the shell support (41) is arranged above the upper carriage (42), the speed reducer (44) is arranged on the side surface of the shell support (41), and the third motor is arranged at one end, far away from the shell support (41), of the speed reducer (44).

4. The large scale inter-press transfer robot servo sliding gripper of claim 3, wherein: the driving device assembly (4) further comprises a filter (45), an electromagnetic valve (46), a driving belt adjusting screw, a synchronous belt adjusting screw and a ball sliding block (47), the ball sliding block (47) is arranged at the bottom of the upper carriage (42), the ball sliding block (47) is matched with the upper guide rail (32), the filter (45) is arranged on the front face of the shell support (41), the electromagnetic valve (46) is arranged on the back face of the shell support (41), the driving belt adjusting screw is arranged on the upper portion of the shell support (41), and the synchronous belt adjusting screw is arranged at the bottom of the upper carriage (42).

5. The large scale inter-press transfer robot servo sliding gripper of claim 2, wherein: the main body frame (3) further comprises a pulley upper protection plate (35), an end protection cover (36), a pulley end cover (37) and an end wheel combination (38) which are arranged on the main body longitudinal beam (31), the pulley upper protection plate (35) is arranged on the upper portion of the main body longitudinal beam (31), and the end protection cover (36), the pulley end cover (37) and the end wheel combination (38) are arranged at the end portion of the main body longitudinal beam (31).

6. The large scale inter-press transfer robot servo sliding gripper of claim 2, wherein: the top of the lower carriage (51) is also provided with a guide rail sliding block (55), and the guide rail sliding block (55) is matched with the lower guide rail.

7. The large scale inter-press transfer robot servo sliding gripper of claim 6, wherein: the top of the lower carriage (51) is also provided with a zero plate (57).

8. The large scale inter-press transfer robot servo sliding gripper of claim 2, wherein: the first motor (13), the second motor (24) and the third motor (43) are all servo motors, and encoders are arranged on the first motor (13), the second motor (24) and the third motor (43).

9. The large scale inter-press transfer robot servo sliding gripper of claim 1, wherein: and a manipulator connecting flange (15) is arranged on one side of the longitudinal transmission member (14) far away from the longitudinal guide rail (12).

10. The large scale inter-press transfer robot servo sliding gripper of claim 1, wherein: the longitudinal guide rail (12), the upper guide rail (32) and the lower guide rail are all made of carbon steel grade stainless steel, and the main body longitudinal beam (31) is made of aluminum alloy.