CN216180519U - High-speed workpiece taking manipulator equipment - Google Patents
High-speed workpiece taking manipulator equipment Download PDFInfo
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- CN216180519U CN216180519U CN202121917354.4U CN202121917354U CN216180519U CN 216180519 U CN216180519 U CN 216180519U CN 202121917354 U CN202121917354 U CN 202121917354U CN 216180519 U CN216180519 U CN 216180519U
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Abstract
The utility model discloses a high-speed workpiece taking manipulator device, which is characterized in that: including the crossbeam part, the Z axle subassembly, Y axle subassembly and X axle subassembly, the crossbeam part is used for supporting fixedly, the vertical one end of fixing at the crossbeam part of Z axle subassembly, the Y axle subassembly sets up with the Z axle subassembly is perpendicular and can follow Z up-and-down motion through first drive mechanism, the X axle subassembly sets up with the Y axle subassembly is perpendicular and can follow Y through second drive mechanism and move to the front and back, the X axle subassembly includes the tool, a third drive mechanism for controlling tool tilting mechanism and drive tool to control the double-speed motion along X, the advantage is: the workpiece can be taken from the non-operation side of the side, the structure is compact, the space is saved, and the workpiece taking device is convenient to be matched with other equipment; when the jig is operated, the jig can move at a speed which is multiplied by the speed in the direction of taking and placing the workpiece, so that the production efficiency and the yield are improved.
Description
Technical Field
The utility model relates to the field of manipulators, in particular to high-speed workpiece taking manipulator equipment.
Background
The mechanical arm equipment is various in types, is usually used for grabbing and placing injection-molded products or products on other production lines, is widely applied to various automatic production line production occasions, and is used in a workshop in a large amount.
In the industries of medical instruments, optical products and the like, a manipulator is required to grab products with small volume, more quantity and compact arrangement, such as a liquid-transferring head of a liquid-transferring gun, and the products are characterized by being arranged in a matrix or honeycomb manner, often dozens or more, compact arrangement among the products and small space. The conventional manipulator is arranged above an injection molding machine or a production line, and a jig moves downwards to take a product, so that the defects that the manipulator is large in size, parts are not compact enough, small products are difficult to grab, the space, especially the height, of a production workshop is high and the like still exist; in addition, the production period of the product is short, the running speed of the conventional manipulator cannot meet the requirement, the production efficiency is low, and the yield is influenced.
Disclosure of Invention
In order to solve the defects in the prior art, the utility model provides a high-speed workpiece taking manipulator device which can enter a workpiece from a lateral non-operation side, has a compact structure, saves more space and is convenient to be matched with other equipment for use; when the jig is operated, the jig can move at a speed which is multiplied by the speed in the direction of taking and placing the workpiece, so that the production efficiency and the yield are improved.
The technical scheme adopted by the utility model for solving the technical problems is as follows: the utility model provides a manipulator equipment is got to high speed, includes crossbeam part, Z axle subassembly, Y axle subassembly and X axle subassembly, the crossbeam part be used for supporting fixedly, the Z axle subassembly vertically fix the one end of crossbeam part, the Y axle subassembly with the Z axle subassembly set up perpendicularly and can pass through first drive mechanism and move up and down along Z, the X axle subassembly with the Y axle subassembly set up perpendicularly and can pass through second drive mechanism and move along Y to the front and back, the X axle subassembly include the tool, be used for controlling tool upset motion's tilting mechanism and drive the tool along X to control the third drive mechanism of double-speed motion.
In some embodiments, the Z-axis component includes a Z-axis, a Z-axis mounting plate disposed on one side of the Z-axis, and a Z-axis slide disposed on the Z-axis and facing outward, the Z-axis is vertically fixed to the outer end of the cross beam component through the Z-axis mounting plate, the bottom end of the Z-axis slide is connected to the Y-axis component, and the upper end of the Z-axis slide is connected to the first transmission mechanism through a Z-axis substrate and moves up and down along the Z-axis. The design of Z axle slide can be followed the Z main shaft and steadily slided from top to bottom in this structure, and the switching of Z axle slide and Y axle subassembly has stronger stability.
In some embodiments, the first transmission mechanism comprises a balance cylinder, a Z-axis motor, a Z-axis belt pulley, a Z-axis belt and a Z-axis idler pulley, the balance cylinder is vertically fixed on the beam part, the output end of the balance cylinder is fixed with the Y-axis part, the Z-axis motor is fixed at the top end of the Z-axis main shaft, the Z-axis belt wheel is coaxially fixed on the output shaft of the Z-axis motor, the Z-axis idler wheel is rotatably arranged at the other end of the Z main shaft far away from the Z-axis belt wheel, the Z-axis belt is wound on the Z-axis belt wheel and the Z-axis idler wheel, the Z-axis motor rotates to drive the Z-axis belt to transmit, the Z-axis substrate is fixed with the Z-axis belt, the Y-axis component is driven to move up and down along the Z direction under the combined action of the balance cylinder and the Z-axis motor. In this structure, drive Y axle spare through balance cylinder and Z axle motor jointly and move from top to bottom along Z, wherein balance cylinder drives the tip that the Y main shaft was provided with the motor, thereby Z axle motor drives the middle part that the Z axle slide drove the Y main shaft, combines to get up the drive effect better, moves more steadily, reliably.
In some embodiments, the Y-axis component includes a Y-axis component disposed outside the Z-axis component, a balance cylinder floating joint mounting plate for connecting with an output end of the balance cylinder is fixed inside the Y-axis component, an X-axis component mounting seat is disposed outside the Y-axis component, the X-axis component mounting seat is connected with the second transmission mechanism and moves back and forth along the Y-direction, and a bottom of the X-axis component mounting seat is fixed with the X-axis component.
In some embodiments, the second transmission mechanism includes a Y-axis motor, a Y-axis pulley, a Y-axis belt, and a Y-axis idler, the Y-axis motor is fixed to one end of the Y-axis, the Y-axis pulley is coaxially fixed to an output shaft of the Y-axis motor, the Y-axis idler is rotatably disposed at the other end of the Y-axis, which is far from the Y-axis pulley, the Y-axis belt is wound around the Y-axis pulley and the Y-axis idler, the Y-axis motor rotates to drive the Y-axis belt to transmit, the X-axis mount is fixed to the Y-axis belt, and the X-axis is driven to move back and forth along the Y direction by the rotation of the Y-axis motor.
In some embodiments, the X-axis component includes an X-axis main axis, an X-axis upper substrate, an X-axis lower substrate, an X-axis upper right slider fixing plate, an X-axis lower right slider fixing plate, an X-axis upper left slider fixing plate, and an X-axis lower left slider fixing plate, the X-axis main axis is disposed along the X direction, the X-axis upper substrate is horizontally disposed above the X-axis main axis, an upper surface of the X-axis upper substrate is fixed to a bottom of the X-axis component mounting base, the X-axis upper right slider fixing plate and the X-axis upper left slider fixing plate are vertically disposed on two corresponding sides of an upper portion of the X-axis main axis, the X-axis upper substrate is slidably connected to the X-axis main axis through the X-axis upper right slider fixing plate and the X-axis upper left slider fixing plate, the X-axis lower substrate is horizontally disposed below the X-axis main axis, the fixture and the turnover mechanism are fixed on the X-axis lower substrate, the X-axis lower right side slide block fixing plate and the X-axis lower left side slide block fixing plate are respectively vertically arranged on two corresponding sides of the lower portion of the X main shaft, and the X-axis lower substrate is connected with the X main shaft in a sliding mode through the X-axis lower right side slide block fixing plate and the X-axis lower left side slide block fixing plate. From this, X axle component passes through X axle component mount pad and is connected with the Y main shaft and along Y to the joint movement, has integrated X axle motor and X axle drive wheel on the X axle component mount pad, and the whole installation is on X epaxial base plate, and consequently the operation is got up comparatively steadily.
Tilting mechanism include tool upset jar, upset jar mounting panel and tool keysets, the vertical setting of upset jar mounting panel and fix X axle infrabasal plate on, tool upset jar install one side of upset jar mounting panel and be located the below of X main shaft, upset jar mounting panel with X axle infrabasal plate between be provided with deep floor, the tool upset jar rotate the output face with the one end of tool keysets be connected, the other end of tool keysets connect the tool, tool upset jar motion drive the tool between the front side of X main shaft and the bottom of X main shaft 90 within ranges internal rotations.
In some embodiments, the third transmission mechanism includes an X-axis motor, an X-axis pulley, a first X-axis belt, a second X-axis belt, a first X-axis idler pulley and a second X-axis idler pulley, the X-axis motor is fixed on one side of the X-axis component mounting base, the X-axis pulley is coaxially fixed on an output shaft of the X-axis motor, the X-axis pulley is located inside the X-axis component mounting base, two first X-axis idler pulleys are rotatably mounted on the X-axis upper base plate, and after passing through the X-axis pulley, two ends of the first X-axis belt are respectively wound around the two first X-axis idler pulleys and fixed with two ends of an upper end surface of the X spindle; the two second X-axis idler pulleys are respectively rotatably arranged at two ends of one side surface of the X main shaft, the second X-axis belt is wound on the two second X-axis idler pulleys, the X-axis upper substrate is locked with the upper section of the second X-axis belt, the X-axis lower substrate is locked with the lower section of the second X-axis belt, and the X-axis upper substrate and the X-axis lower substrate are arranged on the belt in an oblique and opposite manner; the X-axis motor drives the first X-axis belt to drive the X spindle to move relative to the X-axis upper substrate, and the second X-axis belt drives the X-axis lower substrate to move relative to the X-axis upper substrate at a double speed along the X direction.
In some embodiments, a first guide mechanism is disposed between the Z-axis substrate and the Z-axis main shaft, the first guide mechanism includes two Z-axis slide rails disposed in parallel on an outer side surface of the Z-axis main shaft and located at two sides of the Z-axis belt, and two Z-axis sliders fixed on an inner surface of the Z-axis substrate, the Z-axis sliders are slidably disposed on the Z-axis slide rails, and Z-axis limit stoppers are further disposed at two ends of the Z-axis slide rails; a second guide mechanism is arranged between the X-axis component mounting seat and the Y-axis component, the second guide mechanism comprises two Y-axis slide rails which are arranged on the outer side surface of the Y-axis component in parallel and positioned at two sides of the Y-axis belt and two Y-axis slide blocks which are fixed on the inner surface of the X-axis component mounting seat, the Y-axis slide blocks are arranged on the Y-axis slide rails in a sliding manner, and Y-axis limit stop blocks are arranged at two ends of each Y-axis slide rail; a third guide mechanism is arranged between the X-axis upper substrate and the X-axis main shaft, the third guide mechanism comprises two X-axis upper sliding rails which are symmetrically arranged on the inner side surface and the outer side surface of the upper part of the X-axis main shaft and two groups of X-axis upper sliding blocks which are respectively arranged on the right-side sliding block fixing plate on the X-axis and the inner side of the left-side sliding block fixing plate on the X-axis, and the X-axis upper sliding blocks are arranged on the X-axis upper sliding rails in a sliding manner; a fourth guide mechanism is arranged between the X-axis lower substrate and the X-axis main shaft, the fourth guide mechanism comprises two X-axis lower slide rails symmetrically arranged on the inner side surface and the outer side surface of the lower part of the X-axis main shaft and two groups of X-axis lower slide blocks respectively arranged on the inner sides of the X-axis lower right slide block fixing plate and the X-axis lower left slide block fixing plate, and the X-axis lower slide blocks are arranged on the X-axis lower slide rails in a sliding manner; and X-axis limit stop blocks are further arranged at two ends of the X-axis upper slide rail and the X-axis lower slide rail. From this, slide rail and slider cooperation are used, adopt guide structure can further guarantee each part gliding stability on corresponding main shaft, set up limit stop and can avoid parts to slide out the slide rail, play limiting displacement. The X-axis upper slide rail and the X-axis lower slide rail are of a double-guide-rail structure, so that the X-axis upper substrate and the X-axis lower substrate are more stable in speed doubling operation, and stronger support is provided for components such as a driving component, a jig and a rotary cylinder on the substrate.
In some embodiments, the jig adapter plate is L-shaped, one end of the jig adapter plate is connected with the output surface of the jig turnover cylinder, the other end of the jig adapter plate is connected with the jig surface, and a reinforcing rib plate is arranged between two ends of the jig adapter plate; and an X-axis induction metal plate used for inducing whether the jig returns outwards or not is arranged above the X-axis lower substrate.
In some embodiments, the device further comprises a first drag chain, a second drag chain and a third drag chain, wherein a fixed end of the first drag chain is connected with one side surface of the Z-axis, a moving end of the first drag chain is connected with the same side surface of the Z-axis substrate, a fixed end of the second drag chain is connected with the upper surface of the Y-axis, a moving end of the second drag chain is connected with the top of the X-axis component mounting seat, a fixed end of the third drag chain is connected with the right side of the X-axis upper substrate, and a moving end of the third drag chain is connected with the right side slider fixing plate under the X-axis.
Compared with the prior art, the utility model has the advantages that: (1) through setting up the crossbeam part and carrying out the switching with the injection molding machine, make the whole side that is located the injection molding machine of device, X can get into from side fast to the mechanical axis during operation and get the piece, consequently compare the traditional manipulator of getting the piece from the top, this device can save space on the one hand, especially reduced the requirement to the workshop in Z to the aspect of height, on the other hand, the manipulator setting can be convenient for more stretch into in side, snatch miniature, arrange inseparable product, also be convenient for cooperate other equipment more, do benefit to and use on the production line, the manipulator gets into and snatchs the back and provides certain operating space for placing downstream equipment or conveyer belt. (2) The X-axis component can realize the C-axis direction rotation of the jig, and is convenient for grabbing and placing products and butting with an external device. (3) Stretch into through the crossbeam part and fix on the injection molding machine, the outer end setting that the crossbeam was hugged closely to the Z main shaft, the Y spindle passes through the slide and is connected with the Z spindle unit and follow Z to sliding, its outside that can hug closely the Z spindle unit sets up, the structure compactness has been increased, and stable in structure, the X spindle unit passes through the mount pad and is connected with the Y main shaft, the bottom switching X main shaft of mount pad, make the X main shaft and the last part of it draw close with the Y main shaft as far as possible, the X axle motor element has been integrated on the mount pad simultaneously, high transmission efficiency, compact structure, it is small to take up an area of the volume. (4) The maintenance is more convenient, need not to maintain from the top of injection molding machine with the help of external instrument, and this structure setting is in injection molding machine one side, and is highly unanimous with staff's operation, no matter operation or later maintenance are all more convenient, reduce the potential safety hazard.
Drawings
Fig. 1 is a schematic overall three-dimensional structure diagram of a high-speed workpiece-taking manipulator device according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a cross member of a high-speed pick-up robot apparatus according to the present invention;
FIG. 3 is a first schematic perspective view of a Z-axis component of a high-speed workpiece-picking robot apparatus according to the present invention;
FIG. 4 is a schematic perspective view of a second embodiment of a Z-axis component of a high-speed pick-up robot apparatus according to the present invention;
FIG. 5 is a first schematic perspective view of a Y-axis component of a high-speed workpiece picking robot apparatus according to the present invention;
FIG. 6 is a schematic perspective view of a second embodiment of a Y-axis component of a high-speed pick-up robot apparatus according to the present invention;
FIG. 7 is a first schematic perspective view of an X-axis component of a high-speed pick-up robot apparatus according to the present invention;
FIG. 8 is a schematic perspective view of a second embodiment of an X-axis component of a high-speed pick-up robot apparatus according to the present invention;
fig. 9 is a third schematic perspective view of an X-axis component in the high-speed workpiece picking robot apparatus according to the present invention.
Wherein, the beam part 10, the beam shaft 11, the beam fixing plate 12, the beam mounting plate 13, the balance cylinder 14, the balance cylinder fixing block 15, the balance cylinder floating joint 16, the Z-axis part 20, the Z-axis 21, the Z-axis mounting plate 22, the Z-axis slide 23, the adapter 24, the Z-axis base plate 25, the Z-axis motor 26, the Z-axis belt pulley 27, the Z-axis belt 28, the Z-axis idle pulley 29, the Z-axis slide rail 210, the Z-axis slide block 211, the Z-axis limit block 212, the first drag chain 213, the Y-axis part 30, the Y-axis 31, the balance cylinder floating joint mounting plate 32, the X-axis part mounting plate 33, the Y-axis motor 34, the Y-axis pulley 35, the Y-axis belt 36, the Y-axis idle pulley mounting plate 37, the Y-axis slide rail 38, the Y-axis slide block 39, the Y-axis limit block 310, the second drag chain 311, the X-axis part 40, 41, the X-axis part 42, the X-axis upper base plate 43, the X-axis lower base plate 44, the X-axis upper right-side slide block fixture 45, the device comprises an X-axis lower right-side slider fixing plate 46, an X-axis upper left-side slider fixing plate 47, an X-axis lower left-side slider fixing plate 48, a jig turning cylinder 49, a turning cylinder mounting plate 410, a jig adapter plate 411, a reinforcing rib plate 412, an X-axis motor 413, a first X-axis belt 415, a second X-axis belt 416, a first X-axis idler pulley 417, a second X-axis idler pulley 418, an X-axis upper slide rail 419, an X-axis upper slider 420, an X-axis lower slide rail 421, an X-axis lower slider 422, an X-axis limit stopper 423, an X-axis induction metal plate 424 and a third drag chain 425.
Detailed Description
The following provides a further detailed description of the high-speed workpiece picking robot apparatus according to the present invention with reference to the accompanying drawings and examples, but the present invention is not limited thereto.
Example one
As shown in the figure, the high-speed workpiece taking manipulator device comprises a cross beam part 10, a Z-axis part 20, a Y-axis part 30 and an X-axis part 40, wherein the cross beam part 10 is used for supporting and fixing, the Z-axis part 20 is vertically fixed at one end of the cross beam part 10, the Y-axis part 30 and the Z-axis part 20 are vertically arranged and can move up and down along Z through a first transmission mechanism, the X-axis part 40 and the Y-axis part 30 are vertically arranged and can move back and forth along Y through a second transmission mechanism, and the X-axis part 40 comprises a jig 41, a turnover mechanism used for controlling turnover of the jig 41 and a third transmission mechanism used for driving the jig 41 to move left and right at double speed along X.
Example two
The present embodiment provides a high-speed workpiece-taking robot apparatus, which adds to the description of the specific structure of the cross beam member 10 on the basis of the first embodiment. In this embodiment, the beam member 10 includes a long beam shaft 11, a beam fixing plate 12 is disposed at the bottom of the beam shaft 11, the beam member is firmly fixed to an injection molding machine or other matching devices by the beam fixing plate 12, and a beam mounting plate 13 for fixing to the Z-axis member 20 is vertically disposed on a side wall of one end of the beam shaft 11.
EXAMPLE III
The present embodiment provides a high-speed workpiece-taking robot apparatus, which adds to the description of the specific structure of the Z-axis component 20 in the first or second embodiment. In this embodiment, the Z-axis component 20 includes a Z-axis 21, a Z-axis mounting plate 22 disposed on one side of the Z-axis 21, and a Z-axis slide 23 disposed on the outward side of the Z-axis 21, and the Z-axis 21 is fixed to the beam mounting plate 13 through the Z-axis mounting plate 22, so as to be vertically fixed to the outer end of the beam axis 11, i.e., on one side of the injection molding machine. The bottom of Z axle slide 23 is provided with an adapter 24 that the shape matches with Y axle spare 30, and this adapter 24 is perpendicular with Z axle slide 23 mutually, is provided with the reinforcing plate between adapter 24 and the Z axle slide 23, accepts Y axle spare 30 through adapter 24, and its structure is more stable, and intensity is bigger, and the Y axle spare of being convenient for slides more stably. The upper end of the Z-axis slide 23 is connected to the first transmission mechanism through a Z-axis base plate 25 and moves up and down along Z.
The first transmission mechanism comprises a balance cylinder 14, a Z-axis motor 26, a Z-axis belt wheel 27, a Z-axis belt 28 and a Z-axis idler wheel 29, the balance cylinder 14 is vertically fixed at the outer end of the beam shaft 11 through a balance cylinder fixing block 15, and the output end of the balance cylinder, namely a balance cylinder floating joint 16, is fixed with the Y-axis component. The Z-axis motor 26 is fixed at the top end of the Z spindle 21, the Z-axis belt wheel 27 is coaxially fixed on an output shaft of the Z-axis motor 26, the Z-axis idler pulley 29 is rotatably arranged at the other end, far away from the Z-axis belt wheel 27, of the Z spindle 21, the Z-axis belt 28 is wound on the Z-axis belt wheel 27 and the Z-axis idler pulley 29, the Z-axis motor 26 rotates to drive the Z-axis belt 28 to transmit, the Z-axis base plate 25 is fixed with the Z-axis belt 28, and the Y-axis component 30 is driven to move up and down along Z under the combined action of the balance cylinder 14 and the Z-axis motor 26.
Example four
In the high-speed workpiece picking robot apparatus proposed in the present embodiment, a detailed structure of the Y-axis member 30 is described in addition to any of the above embodiments. In this embodiment, the Y-axis member 30 includes a Y-axis shaft 31 disposed outside the Z-axis shaft 21, a balance cylinder floating joint mounting plate 32 for connecting with the balance cylinder floating joint 16 is fixed inside the Y-axis shaft 31, an X-axis member mounting seat 33 is disposed outside the Y-axis shaft 31, the X-axis member mounting seat 33 is connected with the second transmission mechanism and moves back and forth along the Y-direction, and the bottom of the X-axis member mounting seat 33 is fixed to the X-axis member 40.
The second transmission mechanism comprises a Y-axis motor 34, a Y-axis belt wheel 35, a Y-axis belt 36 and a Y-axis idle wheel, the Y-axis motor 34 is fixed at one end of the Y-axis 31, the Y-axis belt wheel 35 is coaxially fixed on an output shaft of the Y-axis motor 34, the Y-axis idle wheel is rotatably arranged at the other end, far away from the Y-axis belt wheel, of the Y-axis 31 through a Y-axis idle wheel mounting plate 37, the Y-axis belt 36 is wound on the Y-axis belt wheel 35 and the Y-axis idle wheel 37, the Y-axis motor 34 rotates to drive the Y-axis belt 36 to transmit, the X-axis mounting seat 33 is fixed with the Y-axis belt 36, and the Y-axis motor 34 rotates to drive the X-axis 40 to move back and forth along the Y direction.
EXAMPLE five
In the high-speed workpiece taking robot apparatus proposed in the present embodiment, a detailed structure of the X-axis component 40 is described in addition to any of the above embodiments. In this embodiment, the X-axis component 40 includes an X-axis main shaft 42, an X-axis upper substrate 43, an X-axis lower substrate 44, an X-axis upper right slider fixing plate 45, an X-axis lower right slider fixing plate 46, an X-axis upper left slider fixing plate 47, and an X-axis lower left slider fixing plate 48, the X-axis main shaft 42 is disposed along the X direction, the X-axis upper substrate 43 is horizontally disposed above the X-axis main shaft 42, the upper surface of the X-axis upper substrate 43 is fixed to the bottom of the X-axis component mounting base 33, the X-axis upper right slider fixing plate 45 and the X-axis upper left slider fixing plate 47 are vertically disposed on two corresponding sides of the upper portion of the X-axis main shaft 42, the X-axis upper substrate 43 is slidably connected to the X-axis main shaft 42 through the X-axis upper right slider fixing plate 45 and the X-axis upper left slider fixing plate 47, the X-axis lower substrate 44 is horizontally disposed below the X-axis main shaft 42, the jig 41 and the turnover mechanism are both fixed on the X-axis lower substrate 44, the X-axis lower right slider fixing plate 46 and the X-axis lower left slider fixing plate 48 are vertically disposed at two corresponding sides of the lower portion of the X-spindle 42, respectively, and the X-axis lower substrate 44 is slidably connected to the X-spindle 42 through the X-axis lower right slider fixing plate 46 and the X-axis lower left slider fixing plate 48.
In this embodiment, the turnover mechanism includes a jig turnover cylinder 49, a turnover cylinder mounting plate 410 and a jig adapter plate 411, the turnover cylinder mounting plate 410 is vertically disposed and fixed on the X-axis lower substrate 44, the jig turnover cylinder 49 is mounted on one side of the turnover cylinder mounting plate 410 and located below the X spindle 42, a reinforcing rib plate 412 is disposed between the turnover cylinder mounting plate 410 and the X-axis lower substrate 44, a rotation output surface of the jig turnover cylinder 49 is connected with one end of the jig adapter plate 411, the other end of the jig adapter plate 411 is connected with the jig 41, and the jig turnover cylinder 49 moves to drive the jig 41 to turn over within a range of 90 ° between the front side of the X spindle 42 and the bottom of the X spindle 42.
The third transmission mechanism comprises an X-axis motor 413, an X-axis belt wheel, a first X-axis belt 415, a second X-axis belt 416, a first X-axis idle wheel 417 and a second X-axis idle wheel 418, wherein the X-axis motor 413 is fixed on one side of the X-axis component mounting seat 33, the X-axis belt wheel is coaxially fixed on an output shaft of the X-axis motor 413, the X-axis belt wheel is positioned inside the X-axis component mounting seat 33, the two first X-axis idle wheels 417 are rotatably mounted on the X-axis upper base plate 43, and after passing through the X-axis belt wheel, the two ends of the first X-axis belt 415 are respectively fixed with the two ends of the upper end surface of the X main shaft 42 after passing through the two first X-axis idle wheels 417; the two second X-axis idle pulleys 418 are respectively rotatably mounted at two ends of one side surface of the X-axis main shaft 42, the second X-axis belt 416 is wound on the two second X-axis idle pulleys 418, the X-axis upper substrate 43 is locked with the upper section of the second X-axis belt 416, the X-axis lower substrate 44 is locked with the lower section of the second X-axis belt 416, and the X-axis upper substrate 43 and the X-axis lower substrate 44 are arranged diagonally on the belt; the first X-axis belt 415 is driven by the rotation of the X-axis motor 413 to drive the X-axis spindle 42 to move relative to the X-axis upper substrate 43, and the second X-axis belt 416 drives the X-axis lower substrate 44 to move at a speed doubled relative to the X-axis upper substrate 43 along the X direction.
EXAMPLE six
The present embodiment proposes a high-speed workpiece picking robot apparatus, which further supplements the specific structure of the guide mechanism on the basis of any of the above embodiments. In this embodiment, a first guiding mechanism is disposed between the Z-axis substrate 25 and the Z-axis main shaft 21, the first guiding mechanism includes two Z-axis sliding rails 210 disposed on the outer side surface of the Z-axis main shaft 21 and located at two sides of the Z-axis belt 28, and two Z-axis sliders 211 fixed on the inner surface of the Z-axis substrate 25, the Z-axis sliders 211 are slidably disposed on the Z-axis sliding rails 210, and Z-axis limit stoppers 212 are further disposed at two ends of the Z-axis sliding rails 210.
A second guide mechanism is arranged between the X-axis component mounting seat 33 and the Y-axis component 31, the second guide mechanism comprises two Y-axis slide rails 38 which are arranged on the outer side surface of the Y-axis component 31 in parallel and located on two sides of the Y-axis belt 36, and two Y-axis slide blocks 39 which are fixed on the inner surface of the X-axis component mounting seat 33, the Y-axis slide blocks 39 are arranged on the Y-axis slide rails 38 in a sliding manner, and Y-axis limit stoppers 310 are further arranged at two ends of each Y-axis slide rail 38.
A third guide mechanism is arranged between the X-axis upper substrate 43 and the X-axis main shaft 42, the third guide mechanism comprises two X-axis upper slide rails 419 which are symmetrically arranged on the inner side surface and the outer side surface of the upper part of the X-axis main shaft 42, and two groups of X-axis upper slide blocks 420 which are respectively arranged on the inner sides of the X-axis right slide block fixing plate 45 and the X-axis left slide block fixing plate 47, and the X-axis upper slide blocks 420 are arranged on the X-axis upper slide rails 419 in a sliding manner; a fourth guide mechanism is arranged between the X-axis lower substrate 44 and the X-axis main shaft 42, the fourth guide mechanism comprises two X-axis lower slide rails 421 symmetrically arranged on the inner and outer side surfaces of the lower part of the X-axis main shaft 42 and two groups of X-axis lower slide blocks 422 respectively arranged on the inner sides of the X-axis lower right slide block fixing plate 46 and the X-axis lower left slide block fixing plate 48, and the X-axis lower slide blocks 422 are arranged on the X-axis lower slide rails 421 in a sliding manner; both ends of the X-axis upper slide rail 419 and the X-axis lower slide rail 421 are further provided with X-axis limit stoppers 423.
EXAMPLE seven
The high-speed workpiece taking manipulator device provided by the embodiment is further optimized in the rest structure of the manipulator device on the basis of any one of the embodiments. In this embodiment, the jig adapter plate 411 is L-shaped, one end of the jig adapter plate 411 is connected to the output surface of the jig turnover cylinder 49, the other end of the jig adapter plate 411 is connected to the jig 41, and a reinforcing rib plate 412 is disposed between the two ends of the jig adapter plate 411; an X-axis sensing metal plate 424 used for sensing whether the jig 41 returns outwards is arranged above the X-axis lower substrate 44 to prevent the injection molding machine from closing the mold and damaging the equipment.
In this embodiment, the high-speed workpiece taking manipulator device further includes a first drag chain 213, a second drag chain 311, and a third drag chain 425, a fixed end of the first drag chain 213 is connected to a side of the Z spindle 21, a moving end of the first drag chain 213 is connected to the same side of the Z-axis substrate 25, a fixed end of the second drag chain 311 is connected to the upper surface of the Y spindle 31, a moving end of the second drag chain 311 is connected to the top of the X-axis component mounting seat 33, a fixed end of the third drag chain 425 is connected to the right side of the X-axis upper substrate 43, and a moving end of the third drag chain 425 is connected to the X-axis lower right slider fixing plate 46.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereby, and the present invention may be modified in materials and structures, or replaced with technical equivalents, in the constructions of the above-mentioned various components. Therefore, structural equivalents made by using the description and drawings of the present invention or by directly or indirectly applying to other related arts are also encompassed within the scope of the present invention.
Claims (10)
1. The utility model provides a manipulator equipment is got to high speed, its characterized in that includes crossbeam part, Z axle subassembly, Y axle subassembly and X axle subassembly, the crossbeam part be used for supporting fixedly, the Z axle subassembly vertically fix the one end of crossbeam part, Y axle subassembly with Z axle subassembly set up perpendicularly and can pass through first drive mechanism and move up and down along Z, X axle subassembly with Y axle subassembly set up perpendicularly and can pass through second drive mechanism and move along Y to the front and back, X axle subassembly include the tool, be used for controlling the tool upset motion the tilting mechanism and drive the tool along X to control the third drive mechanism of doubly fast motion.
2. The high-speed workpiece-taking robot apparatus according to claim 1, wherein the Z-axis member comprises a Z-axis, a Z-axis mounting plate disposed on one side of the Z-axis, and a Z-axis slide disposed outward of the Z-axis, the Z-axis is vertically fixed to an outer end of the cross member by the Z-axis mounting plate, a bottom end of the Z-axis slide is connected to the Y-axis member, and an upper end of the Z-axis slide is connected to the first transmission mechanism by a Z-axis base plate and moves up and down along Z.
3. The high-speed workpiece-taking manipulator device according to claim 2, wherein the first transmission mechanism comprises a balance cylinder, a Z-axis motor, a Z-axis belt wheel, a Z-axis belt and a Z-axis idler wheel, the balance cylinder is vertically fixed on the beam part, the output end of the balance cylinder is fixed with the Y-axis part, the Z-axis motor is fixed at the top end of the Z-axis main shaft, the Z-axis belt wheel is coaxially fixed on the output shaft of the Z-axis motor, the Z-axis idler wheel is rotatably arranged at the other end of the Z main shaft far away from the Z-axis belt wheel, the Z-axis belt is wound on the Z-axis belt wheel and the Z-axis idler wheel, the Z-axis motor rotates to drive the Z-axis belt to transmit, the Z-axis substrate is fixed with the Z-axis belt, the Y-axis component is driven to move up and down along the Z direction under the combined action of the balance cylinder and the Z-axis motor.
4. The high-speed parts taking robot device according to claim 3, wherein the Y-axis component comprises a Y-axis component arranged outside the Z-axis component, a balance cylinder floating joint mounting plate for connecting with the output end of the balance cylinder is fixed inside the Y-axis component, an X-axis component mounting seat is arranged outside the Y-axis component, the X-axis component mounting seat is connected with the second transmission mechanism and moves back and forth along the Y direction, and the bottom of the X-axis component mounting seat is fixed with the X-axis component.
5. The high-speed parts taking robot device according to claim 4, wherein the second transmission mechanism comprises a Y-axis motor, a Y-axis pulley, a Y-axis belt and a Y-axis idler, the Y-axis motor is fixed at one end of the Y-axis, the Y-axis pulley is coaxially fixed on an output shaft of the Y-axis motor, the Y-axis idler is rotatably disposed at the other end of the Y-axis, which is far away from the Y-axis pulley, the Y-axis belt is wound on the Y-axis pulley and the Y-axis idler, the Y-axis motor rotates to drive the Y-axis belt to transmit, the X-axis part mounting base is fixed with the Y-axis belt, and the X-axis part is driven to move back and forth along the Y direction by the rotation of the Y-axis motor.
6. The high-speed parts taking robot apparatus according to claim 5, wherein the X-axis member comprises an X-axis main shaft, an X-axis upper base plate, an X-axis lower base plate, an X-axis upper right slide fixing plate, an X-axis lower right slide fixing plate, an X-axis upper left slide fixing plate and an X-axis lower left slide fixing plate, the X-axis main shaft is disposed along the X direction, the X-axis upper base plate is horizontally disposed above the X-axis main shaft, the upper surface of the X-axis upper base plate is fixed to the bottom of the X-axis member mounting base, the X-axis upper right slide fixing plate and the X-axis upper left slide fixing plate are respectively vertically disposed at two corresponding sides of the upper part of the X-axis main shaft, the X-axis upper base plate is slidably connected to the X-axis main shaft through the X-axis upper right slide fixing plate and the X-axis upper left slide fixing plate, the X-axis lower substrate is horizontally arranged below the X-axis main shaft, the jig and the turnover mechanism are fixed on the X-axis lower substrate, the X-axis lower right slide block fixing plate and the X-axis lower left slide block fixing plate are respectively vertically arranged on two corresponding sides of the lower part of the X-axis main shaft, and the X-axis lower substrate is connected with the X-axis main shaft in a sliding manner through the X-axis lower right slide block fixing plate and the X-axis lower left slide block fixing plate;
tilting mechanism include tool upset jar, upset jar mounting panel and tool keysets, the vertical setting of upset jar mounting panel and fix X axle infrabasal plate on, tool upset jar install one side of upset jar mounting panel and be located the below of X main shaft, upset jar mounting panel with X axle infrabasal plate between be provided with deep floor, the tool upset jar rotate the output face with the one end of tool keysets be connected, the other end of tool keysets connect the tool, tool upset jar motion drive the tool between the front side of X main shaft and the bottom of X main shaft 90 within ranges internal rotations.
7. The high-speed workpiece-taking manipulator device according to claim 6, wherein the third transmission mechanism comprises an X-axis motor, an X-axis pulley, a first X-axis belt, a second X-axis belt, a first X-axis idler pulley and a second X-axis idler pulley, the X-axis motor is fixed on one side of the X-axis component mounting seat, the X-axis pulley is coaxially fixed on an output shaft of the X-axis motor, the X-axis pulley is located inside the X-axis component mounting seat, the two first X-axis idler pulleys are rotatably mounted on the X-axis upper base plate, and after passing through the X-axis pulley, the two ends of the first X-axis belt are respectively fixed with the two ends of the upper end surface of the X main shaft after passing around the two first X-axis idler pulleys; the two second X-axis idler pulleys are respectively rotatably arranged at two ends of one side surface of the X main shaft, the second X-axis belt is wound on the two second X-axis idler pulleys, the X-axis upper substrate is locked with the upper section of the second X-axis belt, the X-axis lower substrate is locked with the lower section of the second X-axis belt, and the X-axis upper substrate and the X-axis lower substrate are arranged on the belt in an oblique and opposite manner; the X-axis motor drives the first X-axis belt to drive the X spindle to move relative to the X-axis upper substrate, and the second X-axis belt drives the X-axis lower substrate to move relative to the X-axis upper substrate at a double speed along the X direction.
8. The high-speed workpiece taking manipulator device according to claim 7, wherein a first guide mechanism is arranged between the Z-axis base plate and the Z-axis main shaft, the first guide mechanism comprises two Z-axis slide rails which are arranged on the outer side surface of the Z-axis main shaft in parallel and located on two sides of the Z-axis belt and two Z-axis slide blocks which are fixed on the inner surface of the Z-axis base plate, the Z-axis slide blocks are arranged on the Z-axis slide rails in a sliding manner, and Z-axis limit stoppers are further arranged at two ends of each Z-axis slide rail; a second guide mechanism is arranged between the X-axis component mounting seat and the Y-axis component, the second guide mechanism comprises two Y-axis slide rails which are arranged on the outer side surface of the Y-axis component in parallel and positioned at two sides of the Y-axis belt and two Y-axis slide blocks which are fixed on the inner surface of the X-axis component mounting seat, the Y-axis slide blocks are arranged on the Y-axis slide rails in a sliding manner, and Y-axis limit stop blocks are arranged at two ends of each Y-axis slide rail; a third guide mechanism is arranged between the X-axis upper substrate and the X-axis main shaft, the third guide mechanism comprises two X-axis upper sliding rails which are symmetrically arranged on the inner side surface and the outer side surface of the upper part of the X-axis main shaft and two groups of X-axis upper sliding blocks which are respectively arranged on the right-side sliding block fixing plate on the X-axis and the inner side of the left-side sliding block fixing plate on the X-axis, and the X-axis upper sliding blocks are arranged on the X-axis upper sliding rails in a sliding manner; a fourth guide mechanism is arranged between the X-axis lower substrate and the X-axis main shaft, the fourth guide mechanism comprises two X-axis lower slide rails symmetrically arranged on the inner side surface and the outer side surface of the lower part of the X-axis main shaft and two groups of X-axis lower slide blocks respectively arranged on the inner sides of the X-axis lower right slide block fixing plate and the X-axis lower left slide block fixing plate, and the X-axis lower slide blocks are arranged on the X-axis lower slide rails in a sliding manner; and X-axis limit stop blocks are further arranged at two ends of the X-axis upper slide rail and the X-axis lower slide rail.
9. The high-speed workpiece taking manipulator device according to claim 6, wherein the jig adapter plate is L-shaped, one end of the jig adapter plate is connected with the output surface of the jig turnover cylinder, the other end of the jig adapter plate is connected with the jig surface, and a reinforcing rib plate is arranged between two ends of the jig adapter plate; and an X-axis induction metal plate used for inducing whether the jig returns outwards or not is arranged above the X-axis lower substrate.
10. The high-speed workpiece picking manipulator device according to claim 6, further comprising a first drag chain, a second drag chain and a third drag chain, wherein the fixed end of the first drag chain is connected with one side surface of the Z-axis, the movable end of the first drag chain is connected with the same side surface of the Z-axis substrate, the fixed end of the second drag chain is connected with the upper surface of the Y-axis, the movable end of the second drag chain is connected with the top of the X-axis mounting seat, the fixed end of the third drag chain is connected with the right side of the X-axis upper substrate, and the movable end of the third drag chain is connected with the X-axis lower right slide block fixing plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121917354.4U CN216180519U (en) | 2021-08-16 | 2021-08-16 | High-speed workpiece taking manipulator equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121917354.4U CN216180519U (en) | 2021-08-16 | 2021-08-16 | High-speed workpiece taking manipulator equipment |
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| Publication Number | Publication Date |
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| CN216180519U true CN216180519U (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121917354.4U Active CN216180519U (en) | 2021-08-16 | 2021-08-16 | High-speed workpiece taking manipulator equipment |
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| Country | Link |
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| CN (1) | CN216180519U (en) |
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2021
- 2021-08-16 CN CN202121917354.4U patent/CN216180519U/en active Active
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Address after: 315800 No.518, xiaojiajiang Middle Road, Xiaogang, Beilun District, Ningbo City, Zhejiang Province Patentee after: Ningbo Haitian Drive Technology Co.,Ltd. Address before: 315800 No.518, xiaojiajiang Middle Road, Xiaogang, Beilun District, Ningbo City, Zhejiang Province Patentee before: NINGBO HAIMAIKE AUTOMATION TECHNOLOGY Co.,Ltd. |