CN219926047U

CN219926047U - PPU handling manipulator

Info

Publication number: CN219926047U
Application number: CN202321565331.0U
Authority: CN
Inventors: 张国前
Original assignee: Dongguan City Kainike Automation Equipment Co ltd
Current assignee: Dongguan City Kainike Automation Equipment Co ltd
Priority date: 2023-06-19
Filing date: 2023-06-19
Publication date: 2023-10-31
Anticipated expiration: 2033-06-19

Abstract

The utility model discloses a PPU carrying manipulator which comprises a rotary driving device, a PPU driving module, a rotating shaft, a rotating seat, a guide rail and a sliding block, wherein the PPU driving module comprises a bottom shell, a gasket, a triangular turntable, a rotating bearing, an eccentric shaft, a first eccentric shaft bearing and an output transmission shaft, when the rotary driving device drives the eccentric shaft to rotate, the eccentric shaft can also drive the triangular turntable to revolve, and the triangular turntable can drive one end of the guide rail to move along the track of a track hole through the output transmission shaft, so that the guide rail on the rotating seat can realize 90-degree overturning movement, up-down lifting and translational movement. In addition, the rotary bearing at the three corners of the triangular turntable can be in rolling contact with the inner wall of the gasket by driving the triangular turntable to rotate through the eccentric shaft, and the rotary speed of the triangular turntable can be reduced at the moment, so that the PPU module is provided with a reduction ratio and can be installed with a motor without a speed reducer.

Description

PPU handling manipulator

Technical Field

The utility model relates to the technical field of automation equipment, in particular to a PPU carrying manipulator.

Background

The PPU is a pure cam structure transfer module, generally under the action of a servo or stepping motor, an object can move along a preset track, can stop at any position in the travel range of the object through program control, is mainly used for automatically conveying, feeding and removing small parts in a limited space, realizes the functions through the vertical and horizontal movement sequences of guiding, and ensures the high precision and the high rigidity of the linear guide rail and the circulating bearing element. However, in the prior art, a speed reducer is required to be additionally arranged to increase the moment in general, so that the PPU module has a complex structure and high cost.

As disclosed in chinese patent CN112296980a, a roller cross guide PPU pick-and-place manipulator includes a fixed back plate, a speed reducer, a cam slot track plate, an X-axis guide assembly, and a cross roller Z-axis guide assembly with anti-creep function; the cam slot track board is characterized in that a track board clamping groove for limiting the installation position of the cam slot track board is formed in the fixed back board, and two cam slot track boards are embedded in the track board clamping groove in a cross-engagement mode. However, the Z-axis guide rail of the PPU picking and placing manipulator can only move up and down and left and right, cannot realize 90-degree overturning movement, and cannot be suitable for automatic operation requiring overturning feeding.

Disclosure of Invention

The utility model aims to overcome the defects in the prior art and provide the PPU carrying manipulator which can realize 90-degree overturning movement, up-down lifting and translational movement, and has the advantages of high speed, small volume and high precision.

In order to achieve the above purpose, the utility model provides a PPU handling manipulator, which comprises a rotary driving device, a PPU driving module, a rotating shaft, rotating seats, guide rails and sliding blocks, wherein the PPU driving module comprises a bottom shell, a gasket, a triangular turntable, rotating bearings, an eccentric shaft, a first eccentric shaft bearing and an output transmission shaft, track holes are formed in the shell, the gasket is arranged between the bottom shell and the shell, the rotating bearings are respectively rotatably arranged at three corners of the triangular turntable, the outer wall of each rotating bearing can be in rolling contact with the inner wall of a cavity of the gasket, the eccentric shaft is rotatably arranged between the bottom shell and the shell, the eccentric shaft penetrates through the central holes of the triangular turntable, the rotary driving device is arranged on the back surface of the bottom shell, an output shaft of the rotary driving device is connected with the inner wall of the central holes of the triangular turntable, one end of the output transmission shaft is arranged on the triangular turntable, the other end of the output transmission shaft penetrates through the track holes to extend out of the shell, the rotating seats are rotatably connected with the shell, and one end of the eccentric shaft is connected with the output transmission shaft through the guide rails.

Preferably, the track hole is provided with a first track section, a second track section, a third track section and a fourth track section, the first track section is perpendicular to the second track section and is symmetrically arranged with the third track section, the fourth track section is perpendicular to the third track section and extends towards the direction of the first track section, and the first track section is connected with the second track section, the second track section is connected with the third track section, and the third track section is connected with the fourth track section through an arc transition section.

Preferably, the head end of the first track section of the track hole is disconnected from the tail end of the fourth track section, or the head end of the first track section of the track hole is connected with the tail end of the fourth track section.

Preferably, the triangular turntable comprises a triangular rotating plate and a triangular cover plate, arc-shaped grooves for installing rotating bearings are formed in the three vertex angles of the triangular rotating plate, the rotating bearings are respectively and rotatably installed in the arc-shaped grooves, and the triangular cover plate is installed in cooperation with the triangular rotating plate.

Preferably, the eccentric shaft is provided with two eccentric parts, and the first eccentric shaft bearing is provided with two eccentric parts.

Preferably, two ends of the eccentric shaft are respectively in rotary connection with the bottom shell and the shell through second eccentric shaft bearings.

Preferably, the first eccentric shaft bearing and the second eccentric shaft bearing are respectively arranged as deep groove ball bearings.

Preferably, the rotating shaft is mounted on the housing at an intersection of the first track section and the fourth track section corresponding to the track hole.

Preferably, the rotary drive is configured as a motor.

Preferably, the other end of the guide rail is provided with a clamping device for clamping the workpiece.

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

1. the utility model has simple and novel structure and reasonable design, when the rotary driving device drives the eccentric shaft to rotate, the eccentric shaft can also drive the triangular turntable to revolve, and the triangular turntable can drive one end of the guide rail to move along the track of the track hole through the output transmission shaft, so that the guide rail on the rotary seat can realize 90-degree overturning movement, up-down lifting and translational movement.

2. According to the utility model, the eccentric shaft drives the triangular turntable to rotate, so that the rotating bearings at three corners of the triangular turntable can be in rolling contact with the inner wall of the gasket, the rotating speed of the triangular turntable can be reduced, the PPU module is provided with a reduction ratio, and the PPU module can be installed with a motor without a speed reducer, thereby reducing the cost.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a PPU handling manipulator according to an embodiment of the present utility model;

FIG. 2 is an exploded view of a PPU drive module provided by an embodiment of the present utility model;

FIG. 3 is a schematic structural diagram of a housing of a PPU drive module according to an embodiment of the present utility model;

FIG. 4 is an exploded view of a triangular turntable and a rotary bearing provided by an embodiment of the present utility model;

FIG. 5 is an assembly view of a spindle, swivel mount, rail and slider provided in an embodiment of the utility model;

fig. 6 is a schematic structural diagram of a PPU handling manipulator according to an embodiment of the present utility model when a clamping portion rises along a first track segment;

FIG. 7 is a schematic structural diagram of a PPU handling manipulator according to an embodiment of the present utility model when a clamping part is deflected and moved laterally along a second track segment;

FIG. 8 is a schematic structural diagram of a PPU handling manipulator according to an embodiment of the present utility model when a clamping portion is inclined and lowered along a third track segment;

fig. 9 is a schematic structural view of a holding part of a PPU handling manipulator according to an embodiment of the present utility model moving along a third track segment to a fourth track segment and being in a horizontal state;

fig. 10 is a schematic structural diagram of a PPU handling manipulator according to an embodiment of the present utility model when a clamping portion horizontally traverses to one side along a fourth track segment.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 and 5, an embodiment of the present utility model provides a PPU handling manipulator, which includes a rotary driving device 1, a PPU driving module 2, a rotating shaft 3, a rotating seat 4, a guide rail 5, and a slider 6, and the following details of each component of the embodiment are described in detail with reference to the accompanying drawings.

In this embodiment, the rotary driving device 1 may be directly set as a motor, and no speed reducer is required between the motor and the PPU driving module 2.

As shown in fig. 2 and fig. 3, the PPU driving module 2 may include a bottom shell 21, a housing 22, a gasket 23, a triangle turntable 24, a rotating bearing 25, an eccentric shaft 26, a first eccentric shaft bearing 27, and an output transmission shaft 28, where a track hole 221 is formed on the housing 22, the track hole 221 may be provided with a first track section 221a, a second track section 221b, a third track section 221c, and a fourth track section 221d, the first track section 221a is longitudinally disposed, the first track section 221a is perpendicular to the second track section 221b and symmetrically disposed with the third track section 221c, the fourth track section 221d is perpendicular to the third track section 221c and horizontally extends in a direction of the first track section 221a, between the first track section 221a and the second track section 221b, between the second track section 221b and the third track section 221c, and between the third track section 221c and the fourth track section 221d are all connected by an arc transition section 221e, and thus the head end of the first track section 221a and the tail end of the fourth track section 221d may not form a closed loop structure.

It should be noted that, in another embodiment, the head end of the first track segment 221a of the track hole 221 may also be connected to the tail end of the fourth track segment 221d, and the track hole 221 forms a closed-loop square track structure.

As shown in fig. 2, a gasket 23 is disposed between the bottom case 21 and the outer case 22, and a cavity of the gasket 23 is generally square, and four corners have circular arc transitions.

As shown in fig. 2 and 4, the rolling bearings 25 are rotatably installed at three corners of the triangular turntable 24, respectively, and the outer wall of each rolling bearing 25 can be in rolling contact with the inner wall of the cavity of the washer 23. In this embodiment, preferably, the triangular turntable 24 may include a triangular rotating plate 241 and a triangular cover plate 242, wherein arc-shaped grooves 243 for installing the rotating bearing 25 are formed at three vertex angles of the triangular rotating plate 241, the rotating bearing 25 is rotatably installed in the arc-shaped grooves 243 through a shaft body, and the triangular cover plate 242 is installed in cooperation with the triangular rotating plate 241.

As shown in fig. 1 and 2, the eccentric shaft 26 passes through the center hole of the triangular turntable 24, the eccentric shaft 26 is rotatably installed between the bottom shell 21 and the housing 22, and both ends of the eccentric shaft 26 can be rotatably connected with the bottom shell 21 and the housing 22 through second eccentric shaft bearings 29, respectively.

The first eccentric shaft bearing 27 is installed between the eccentric portion outer wall of the eccentric shaft 26 and the center hole inner wall of the triangular turntable 24. In the present embodiment, the eccentric shaft 26 is provided with two eccentric portions, and the first eccentric shaft bearing 27 is provided with two.

Preferably, the first eccentric shaft bearing 27 and the second eccentric shaft bearing 29 may be provided as deep groove ball bearings, respectively. Of course, other types of bearings may be used according to practical needs, and the present embodiment is not limited thereto.

As shown in fig. 1 and 2, one end of the output drive shaft 28 is mounted on the triangular turntable 24, and the other end of the output drive shaft 28 protrudes outside the housing 22 through the track hole 221.

As shown in fig. 3, the rotation shaft 3 may be preferably mounted on the housing 22 at an intersection of the first track section 221a and the fourth track section 221d corresponding to the track hole 221, i.e., the mounting hole 222.

As shown in fig. 1 and 5, the rotary seat 4 is rotatably connected to the housing 22 through the rotary shaft 3. The guide rail 5 is in sliding connection with the rotating seat 4 through the sliding block 6, and one end of the guide rail 5 is connected with the other end of the output transmission shaft 28.

As shown in fig. 1, the other end of the guide rail 5 may be provided with a clamping device 7 for clamping the workpiece, and the clamping device 7 may be provided as a clamp cylinder or various clamps in practice. Of course, according to actual needs, other jigs and production and processing devices may be mounted at the other end of the guide rail 5, which is not limited in this embodiment.

The working principle of the manipulator is as follows:

when the PPU module works, the PPU module can be directly assembled with a motor, the eccentric shaft is connected with an output shaft of the motor, when the motor drives the eccentric shaft to rotate, the eccentric shaft can also drive the triangular turntable to revolve, and in the process of rotating the triangular turntable, the rotating bearings at three corners of the eccentric shaft can be in rolling contact with the inner wall of the gasket, at the moment, the rotating speed of the triangular turntable can be reduced, and the triangular turntable can drive the output transmission shaft to move back and forth along the track of the track hole.

As shown in fig. 6, when the output drive shaft moves upward along the first track section of the track hole, the guide rail in the vertical state moves upward with respect to the swivel base. As shown in fig. 7, when the output drive shaft moves from the first track section to the second track section of the track hole, the guide rail is flipped up to an inclined state, and one end of the guide rail moves laterally in the direction of the third track section. As shown in fig. 8, as the output drive shaft moves from the second track section to the third track section of the track hole, the rail continues to flip upward with one end of the rail moving downward. As shown in fig. 9, the guide rail is flipped 90 degrees and is in a horizontal state when the output drive shaft moves from the third track section to the fourth track section of the track hole. As shown in fig. 10, when the output drive shaft moves along the fourth track section of the track hole, the guide rail moves horizontally in the direction of the first track section.

When clamping device is installed to the manipulator of this embodiment, under the drive of PPU module, clamping device can be after pressing from both sides the material and get the material upset to 90 degrees, then carries out translation pay-off.

The above examples are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present utility model should be made in the equivalent manner, and the embodiments are included in the protection scope of the present utility model.

Claims

1. The utility model provides a PPU transport manipulator which characterized in that: the rotary driving device comprises a rotary driving device (1), a PPU driving module (2), a rotating shaft (3), a rotating seat (4), a guide rail (5) and a sliding block (6), wherein the PPU driving module (2) comprises a bottom shell (21), a shell (22), a gasket (23), a triangular turntable (24), a rotating bearing (25), an eccentric shaft (26), a first eccentric shaft bearing (27) and an output transmission shaft (28), a track hole (221) is formed in the shell (22), the gasket (23) is arranged between the bottom shell (21) and the shell (22), the rotating bearing (25) is respectively rotatably arranged at three corners of the triangular turntable (24), the outer wall of each rotating bearing (25) can be in rolling contact with the inner wall of a cavity of the gasket (23), the eccentric shaft (26) is rotatably arranged between the bottom shell (21) and the shell (22), the eccentric shaft (26) passes through the central hole of the triangular turntable (24), the rotary driving device (1) is arranged at the back of the bottom shell (21), the eccentric shaft of the rotary driving device (1) is connected with the eccentric shaft (26) and the eccentric shaft (26) of the first eccentric shaft (26) and the eccentric shaft (24) arranged in the central hole of the eccentric shaft (24), one end of the output transmission shaft (28) is arranged on the triangular turntable (24), the other end of the output transmission shaft (28) penetrates through the track hole (221) to extend out of the shell (22), the rotating seat (4) is rotationally connected with the shell (22) through the rotating shaft (3), the guide rail (5) is in sliding connection with the rotating seat (4) through the sliding block (6), and one end of the guide rail (5) is connected with the other end of the output transmission shaft (28).

2. The PPU handling robot of claim 1, wherein: the track hole (221) is provided with a first track section (221 a), a second track section (221 b), a third track section (221 c) and a fourth track section (221 d), the first track section (221 a) is perpendicular to the second track section (221 b) and is symmetrically arranged with the third track section (221 c), the fourth track section (221 d) is perpendicular to the third track section (221 c) and extends towards the direction of the first track section (221 a), and the first track section (221 a) and the second track section (221 b), the second track section (221 b) and the third track section (221 c) are connected through an arc-shaped transition section (221 e).

3. The PPU handling robot of claim 2, wherein: the head end of the first track section (221 a) of the track hole (221) is disconnected from the tail end of the fourth track section (221 d), or the head end of the first track section (221 a) of the track hole (221) is connected with the tail end of the fourth track section (221 d).

4. The PPU handling robot of claim 1, wherein: the triangular turntable (24) comprises a triangular rotating plate (241) and a triangular cover plate (242), arc-shaped grooves (243) for installing the rotating bearings (25) are formed in the three vertex angles of the triangular rotating plate (241), the rotating bearings (25) are respectively and rotatably installed in the arc-shaped grooves (243), and the triangular cover plate (242) is installed in cooperation with the triangular rotating plate (241).

5. The PPU handling robot of claim 1, wherein: the eccentric shaft (26) is provided with two eccentric parts, and the first eccentric shaft bearings (27) are provided with two eccentric parts.

6. The PPU handling robot of claim 1, wherein: the two ends of the eccentric shaft (26) are respectively in rotary connection with the bottom shell (21) and the outer shell (22) through second eccentric shaft bearings (29).

7. The PPU handling robot of claim 1, wherein: the first eccentric shaft bearing (27) and the second eccentric shaft bearing (29) are respectively arranged as deep groove ball bearings.

8. The PPU handling robot of claim 2, wherein: the rotating shaft (3) is arranged on the housing (22) at the intersection point of the first track section (221 a) and the fourth track section (221 d) corresponding to the track hole (221).

9. The PPU handling robot of claim 1, wherein: the rotary drive (1) is designed as a motor.

10. A PPU handling robot according to any one of claims 1 to 9, wherein: the other end of the guide rail (5) is provided with a clamping device (7) for clamping a workpiece.