WO2019042070A1

WO2019042070A1 - Cantilever type manipulator

Info

Publication number: WO2019042070A1
Application number: PCT/CN2018/098304
Authority: WO
Inventors: 夏军; 罗育银; 叶李生; 李怡宝
Original assignee: 深圳市创世纪机械有限公司
Priority date: 2017-08-31
Filing date: 2018-08-02
Publication date: 2019-03-07
Also published as: CN107322580A; CN107322580B

Abstract

A cantilever type manipulator comprises a bearing mounting base (4), a fixed rod (5), a connecting plate (10), a rotating shaft (8), a vertical rail support (11), and a horizontal rail support (13), wherein one end of the fixed rod (5) and the rotating shaft (8) is fixed to the bearing mounting base (4), and the other end is fixed to the connecting plate (10) with the fixed rod (5) and the rotating shaft (8) parallel to each other. The bearing mounting base (4) is mounted on the vertical rail support (11) and drives the fixed rod (5) and the rotating shaft (8) to move up and down in a vertical direction. The vertical rail support (11) is fixed to the horizontal rail support (13) and slides horizontally relative to the horizontal rail support (13). The cantilever type manipulator forms a parallelogram structure by configuring the bearing mounting base (4), fixed rod (5), connecting plate (10), and the rotating shaft (8). When the bearing mounting base (4) slides on the vertical rail support (11), shaking caused by the movement of rotating shaft (8) in the vertical direction is reduced, which improves the stability of manipulator motion and ensures more accurate positioning of workpieces.

Description

Cantilever manipulator

Technical field

The present application relates to the field of machining technology, and in particular to a cantilever type robot.

Background technique

CNC machine tools are an automatic processing equipment with high processing precision and high production efficiency, which plays an increasingly important role in the machinery industry. Although the machining efficiency of CNC machine tools is relatively high, with the rapid development of technology, the production efficiency of traditional CNC machine tools can no longer meet the market demand. One of the methods to improve the production efficiency of CNC machine tools is to use the robot to automatically load and unload. On the one hand, it can increase the refueling speed and improve the production efficiency, on the other hand, it can also reduce the labor cost. The existing robots are mostly ground-rail robots or cantilever robots with a single cantilever.

The traditional cantilever manipulator has only a single rotating shaft. When moving up and down in the vertical direction, due to the action of gravity, the end of the rotating shaft is inevitably shaken. The long time will cause the instability of the robot and the workpiece to fall. The bit is not accurate.

technical problem

The main purpose of the present application is to provide a cantilever type manipulator that effectively reduces vibration caused by vertical movement in the vertical direction and improves the stability of the movement of the manipulator.

Technical solution

To achieve the above object, a cantilever robot provided by the present application includes: a bearing mount, a fixing rod, a connecting plate, a rotating shaft, a vertical rail bracket and a horizontal rail bracket, wherein the fixing rod and one end of the rotating shaft Fixed to the bearing mount, the other end is fixed to the connecting plate, and the fixing rod and the rotating shaft are parallel to each other, the bearing mounting seat is mounted on the vertical sliding rail bracket and drives the fixing The rod and the rotating shaft move up and down in a vertical direction, and the vertical rail bracket is slidably fixed to the horizontal rail bracket and moves in a horizontal direction with respect to the horizontal rail bracket.

Optionally, the method further includes: a servo motor, a reducer and a reducer base, wherein the servo motor and the reducer are mounted on the reducer base to drive the bearing mount on the vertical slide bracket Moving upward, the reducer base is fixed to one end of the bearing mount away from the fixed rod and the rotating shaft.

Optionally, the connecting plate is perpendicular to the fixing rod and the rotating shaft.

Optionally, a plurality of material assemblies are mounted on the rotating shaft, the material assembly includes a suction cup and a material adsorbed on the suction cup, the rotating shaft clamping the material assembly relative to the bearing mount and the The connecting plate is rotated 360 degrees freely.

Optionally, the suction cup generates suction or releases suction so that the material adsorbs or detaches from the suction cup.

Optionally, the method further includes: a lock nut that locks an end of the fixing rod to the connecting plate.

Optionally, the method further includes: a bearing gland, the bearing gland fixing the end of the rotating shaft to the connecting plate.

Beneficial effect

The cantilever type manipulator proposed in the present application forms a parallelogram structure of the bearing mount, the fixed rod, the connecting plate and the rotating shaft, and reduces the rotating shaft in the vertical direction when the bearing mount slides on the vertical rail bracket The sloshing caused by the moving process improves the stability of the robot movement and ensures a more accurate position of the workpiece.

DRAWINGS

1 is a perspective view of a cantilever robot provided in accordance with a preferred embodiment of the present application.

2 is a schematic view showing the movement of the cantilever robot of FIG. 1.

FIG. 3 is a schematic view showing the cutting of the cantilever robot of FIG. 1. FIG.

4 is a schematic view of the take-up of the cantilever robot of FIG. 1.

The implementation, functional features and advantages of the present application will be further described with reference to the accompanying drawings.

Embodiments of the invention

It is understood that the specific embodiments described herein are merely illustrative of the application and are not intended to be limiting.

1 is a perspective view of a cantilever robot provided in accordance with a preferred embodiment of the present application. In FIG. 1, the cantilever type robot includes: a servo motor 1, a speed reducer 2, a reduction gear base 3, a bearing mount 4, a fixed rod 5, a lock nut 6, a bearing gland 7, a rotary shaft 8, a suction cup 9, and a connection. Plate 10, vertical rail bracket 11, material 12 (Fig. 3), and horizontal rail bracket 13. The servo motor 1 and the reducer 2 are mounted on the reduction base 3, and the drive bearing mount 4 is moved on the vertical slide bracket 11. By setting the reducer 2, the transverse direct connection of the servo motor 1 is changed to the vertical direction. The linkage, low speed and high torque make the manipulator structure of the present application more compact. The bearing mount 4 is connected to the reducer base 3 at one end, and the fixed rod 5 and the rotary shaft 8 are connected to the other end, and the bearing mount 4 is mounted on the vertical slide bracket 11 and can drive the fixed rod 5 and the rotary shaft 8 in the vertical direction. The slide rail bracket 11 slides. The fixed rod 5 and the rotating shaft 8 are disposed in parallel with each other, and one ends of the fixed rod 5 and the rotating shaft 8 are fixed to the bearing mount 4, and the other end is fixed to the connecting plate 10. The lock nut 6 locks the end of the fixing rod 5 to the connecting plate 10. The bearing gland 7 fixes the end of the rotating shaft 8 to the connecting plate 10. As shown in FIG. 2, the bearing mount 4, the fixed rod 5, the connecting plate 10, and the rotating shaft 8 form a parallelogram structure, and when the bearing mount 4 slides on the vertical rail bracket 11, the rotating shaft 8 is reduced. The dangling and sway caused by the action of gravity during the up and down movement improves the stability of the manipulator movement.

Further, the connecting plate 10 is perpendicular to the fixed rod 5 and the rotating shaft 8.

In Figure 2, a plurality of material components are mounted on the rotating shaft 8. The material assembly includes a suction cup 9 and a material 12 adsorbed on the suction cup 9. The rotating shaft 8 holds the material assembly to rotate freely within a 360 degree range with respect to the bearing mount 4 and the connecting plate 10.

The vertical rail bracket 11 is slidably fixed to the horizontal rail bracket 13 such that the vertical rail bracket 11 drives the elements on the vertical rail bracket 11 to move in the horizontal direction.

In the working state, the bearing mount 4 is slid up and down on the vertical rail bracket 11, and the vertical rail bracket 11 is horizontally moved on the horizontal rail bracket 13, when reaching the designated position, as shown in FIG. In the unloading state, the suction cup 9 releases the suction force to release the material 12 from the suction cup 9 and fall into the designated position. As shown in Fig. 4, in the suction state, the suction cup 9 generates suction to adsorb the material 12 to the suction cup 9, thereby completing the operation of reclaiming and refueling.

The cantilever type manipulator of the present application forms a parallelogram structure of the bearing mount 4, the fixed rod 5, the connecting plate 10 and the rotating shaft 8, and reduces the rotating shaft when the bearing mount 4 slides on the vertical rail bracket 11. 8 The sway caused by the process of moving up and down in the vertical direction improves the stability of the movement of the manipulator and ensures a more accurate position of the workpiece.

It is to be understood that the term "comprises", "comprising", or any other variants thereof, is intended to encompass a non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes those elements. It also includes other elements that are not explicitly listed, or elements that are inherent to such a process, method, article, or device. An element that is defined by the phrase "comprising a ..." does not exclude the presence of additional equivalent elements in the process, method, item, or device that comprises the element.

The serial numbers of the embodiments of the present application are merely for the description, and do not represent the advantages and disadvantages of the embodiments.

The embodiments of the present application have been described above with reference to the drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative and not restrictive, and those skilled in the art In the light of the scope of the present application, many forms may be made without departing from the scope of the invention as claimed.

Claims

A cantilever type manipulator, comprising: a bearing mount, a fixing rod, a connecting plate, a rotating shaft, a vertical rail bracket and a horizontal rail bracket, wherein one end of the fixing rod and the rotating shaft is fixed at the On the bearing mount, the other end is fixed to the connecting plate, and the fixing rod and the rotating shaft are parallel to each other, the bearing mounting seat is mounted on the vertical rail bracket and drives the fixing rod and rotates The shaft moves up and down in a vertical direction, the vertical rail bracket being slidably fixed to the horizontal rail bracket and moving in a horizontal direction relative to the horizontal rail bracket.
The cantilever type robot according to claim 1, further comprising: a servo motor, a speed reducer, and a reduction gear base, wherein the servo motor and the speed reducer are mounted on the speed reducer base to drive the A bearing mount moves on the vertical rail bracket, and the reducer mount is fixed to an end of the bearing mount away from the fixed rod and the rotating shaft.
The cantilever type robot according to claim 2, wherein the connecting plate is perpendicular to the fixing rod and the rotating shaft.
The cantilever type robot according to claim 1, wherein a plurality of material assemblies are mounted on the rotating shaft, the material assembly comprising a suction cup and a material adsorbed on the suction cup, the rotating shaft clamping the material The assembly is free to rotate 360 degrees with respect to the bearing mount and the web.
The cantilever type robot according to claim 4, wherein a plurality of suction nozzles are respectively disposed on opposite sides of the suction cup.
The cantilever type robot according to claim 4, wherein the suction cup generates suction or releases suction so that the material adsorbs or detaches from the suction cup.
The cantilever type robot according to claim 1, wherein the connecting plate is provided with a plurality of mounting holes.
The cantilever type robot according to claim 1, further comprising: a lock nut that locks an end of the fixing rod to the connecting plate.
The cantilever type robot according to claim 8, further comprising: a bearing gland that fixes an end of the rotating shaft to the connecting plate.