CN106040896B - A kind of serial-parallel mirror punching press loading and unloading manipulator - Google Patents

Abstract

A series-parallel hybrid stamping loading and unloading manipulator, which includes a base, a large arm, a middle arm, a small arm and an end picker. The U-shaped piece between, the first telescopic rod and the second telescopic rod, through the drive of the first and second telescopic rods, can realize the two-dimensional rotation of the boom relative to the base; the middle arm adopts a parallelogram mechanism, through The drive of the third telescopic rod can realize the one-dimensional rotation of the middle arm relative to the large arm; The drive can realize the two-dimensional rotation and one-dimensional movement of the small arm relative to the middle arm; the end picker is fixedly connected to the spline shaft, and the second servo motor is used to drive the spline assembly through the synchronous belt assembly, thereby driving the end picker The device can realize the one-dimensional rotational movement of the end effector relative to the forearm. The invention has large working space, flexible movement, large bearing capacity and strong adjustability.

Description

A series-parallel-connected stamping loading and unloading manipulator

technical field

The invention belongs to the technical field of robots, and in particular relates to a manipulator.

Background technique

As a very important processing method, stamping has high processing efficiency and is widely used. The automatic stamping production line is the development trend of stamping technology. The loading and unloading manipulator is one of the most important components of the stamping automatic production line. The quality of the loading and unloading manipulator directly affects the production efficiency of stamping processing. At present, most of the loading and unloading manipulators are manipulators with a series structure. The manipulators with a series structure have the advantages of simple control, large working space, and flexible movement. However, most of them have the defects of poor load-carrying and adjustable capabilities. Therefore, it is particularly important to develop a new type of stamping loading and unloading manipulator with large working space, flexible movement, large bearing capacity, and strong adjustable ability.

Contents of the invention

The purpose of the present invention is to provide a series-parallel hybrid stamping loading and unloading manipulator with large working space, flexible movement, large bearing capacity and strong adjustability.

The invention comprises a base, a large arm, a middle arm, a small arm and an end picker, wherein the base is connected with the large arm, the big arm is connected with the middle arm, the middle arm is connected with the small arm, and the small arm is connected with the end picker. The boom includes a boom main part, a U-shaped part, a pair of first ball pairs, a pair of second ball pairs, a first telescopic rod and a second telescopic rod; wherein one end of the boom main part passes through a pair of second The ball pair is connected to one end of the first telescopic rod and the second telescopic rod, and the first and second telescopic rods are respectively connected to one side of the base through the first ball pair; the bottom of the U-shaped piece is connected to the other side of the base through The sixth rotating shaft is rotationally connected, and the upper end of the U-shaped part is connected to the main part of the boom through the fifth rotating shaft; through the drive of the first telescopic rod and the second telescopic rod, the main part of the big arm of the manipulator relative to the base can be realized. Two-dimensional rotation, and the two rotations of the boom relative to the base are perpendicular to each other, and the first telescopic rod and the second telescopic rod have the same structure. The middle arm includes a first H-shaped connecting rod, a first frame member, a second H-shaped connecting rod and a third telescopic rod, wherein one end of the first H-shaped connecting rod is connected to the main part of the boom through the first rotating shaft The upper end of the other end of the first H-shaped connecting rod is connected to the upper end of the first frame through the second rotating shaft; one end of the second H-shaped connecting rod is connected to the above-mentioned large through the other first rotating shaft The lower end of the other end of the arm main part is connected, the other end of the second H-shaped connecting rod is connected with the lower end of the first frame member through another second rotating shaft; one end of the third telescopic rod is connected with the above-mentioned The middle part of the main part of the boom is connected, and the other end of the third telescopic rod is connected with the middle part of the second H-shaped connecting rod through the third rotating shaft. Through the drive of the third telescopic rod, a movement of the middle arm relative to the boom can be realized. Dimensional rotation. The small arm includes a first servo motor, a second frame member, a fourth telescopic rod, a fifth telescopic rod, a third H-shaped connecting rod, a fourth H-shaped connecting rod, a fifth H-shaped connecting rod, and a sixth H-shaped connecting rod. shaped connecting rod, the seventh H-shaped connecting rod, the eighth H-shaped connecting rod, the third servo motor, spline shaft and spline sleeve; wherein the fuselage of the first servo motor and the upper end lug of the above-mentioned first frame affixed connection, the output shaft of the first servo motor is affixed to the lug at the upper end of the second frame shape, and the lower end lug of the first frame shape is connected to the lower end lug of the second frame shape through the shaft; the third One end of the H-shaped connecting rod and one end of the eighth H-shaped connecting rod are connected to the middle part of the second frame member through the thirteenth rotating shaft, and the other end of the third H-shaped connecting rod is connected to the fourth H through the eighth rotating shaft. One end of the eighth H-shaped connecting rod is connected, the other end of the eighth H-shaped connecting rod is connected to one end of the seventh H-shaped connecting rod through another eighth rotating shaft, and the other end of the fourth H-shaped connecting rod is connected to the first H-shaped connecting rod through the ninth rotating shaft. One end of the six H-shaped connecting rods is connected, and the other end of the seventh H-shaped connecting rod is connected to one end of the fifth H-shaped connecting rod through another ninth rotating shaft; the second servo motor is fixedly connected to the eleventh rotating shaft, and the second The middle part of the four H-shaped connecting rods is connected with the middle part of the seventh H-shaped connecting rod through the eleventh rotating shaft, and the other end of the fifth H-shaped connecting rod is connected with the other end of the sixth H-shaped connecting rod through the tenth rotating shaft. The key sleeve passes through the shaft hole on the eleventh rotating shaft, and its axial direction remains relatively fixed relative to the eleventh rotating shaft, but it has a rotational degree of freedom around its own axis, and the spline shaft passes through the tenth rotating shaft and its axial direction is relatively fixed relative to the tenth rotating shaft, but it has a degree of freedom of rotation around its own axis. The spline shaft and the spline sleeve are connected by spline fit, so that the spline shaft is relatively The axial direction of the key sleeve has a degree of freedom of movement; the axis of the spline shaft, the axis of the spline sleeve, the axis of the shaft hole on the tenth rotating shaft and the axis of the shaft hole on the eleventh rotating shaft are all collinear; The second servo motor drives the spline sleeve to rotate through the synchronous belt assembly, thereby driving the one-dimensional rotation of the end picker relative to the forearm through the cooperation of the spline sleeve and the spline shaft; one end of the fourth telescopic rod is rotated through the seventh The shaft is connected to the upper part of the second frame, and the other end of the fourth telescopic rod is connected to the middle and upper part of the third H-shaped connecting rod through another seventh rotation shaft; one end of the fifth telescopic rod is connected through the twelfth The rotation shaft is connected to the lower part of the second frame member, and the other end of the fifth telescopic rod is connected to the middle and lower part of the eighth H-shaped connecting rod through another twelfth rotation shaft; through the fourth telescopic rod and the fifth The coordinated drive of the telescopic rod can realize the telescopic movement of the forearm and the one-dimensional rotation around the thirteen rotation axes. In the whole mechanical arm, except that the sixth rotating shaft is vertically installed, all the others are installed parallel to each other horizontally.

Driven by the first servo motor, the one-dimensional rotation of the forearm relative to the middle arm can be realized, that is, the rotation of the forearm around the center line where the motor shaft is located. Driven by the second servo motor, the end effector can be realized around the middle of the forearm. The one-dimensional rotation of the center line where the spline shaft is located uses the end picker to grab the workpiece, and is driven by five telescopic rods and two servo motors on the main arm, middle arm and small arm, which can realize the workpiece on the automatic stamping production line efficient flow.

Compared with the prior art, the present invention has the following advantages:

The working space is large, the movement is flexible, the bearing capacity is large, and the adjustable ability is strong.

Description of drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic diagram of the large arm and the middle arm of the present invention.

Fig. 3 is a schematic diagram of the forearm of the present invention.

Fig. 4 is a schematic diagram of a partial connection between the end effector and the forearm of the present invention.

FIG. 5 is a schematic diagram of the structures of the tenth and eleventh rotation axes of the present invention.

In the figure: 1. Base, 2. Boom, 3. Middle arm, 4. Forearm, 5. End picker, 6. Workpiece, 7. Press, 8, 8′. The first ball pair, 9. The first telescopic rod, 10. The second telescopic rod, 11, 11'. The second ball pair, 12. The main part of the boom, 13, 13' The first rotating shaft, 14. The first H-shaped connecting rod, 15, 15 ′. The second rotating shaft, 16. The first frame, 17. The second H-shaped connecting rod, 18. The third rotating shaft, 19. The third telescopic rod, 20. The fourth rotating shaft, 21. The fifth rotating Shaft, 22. U-shaped part, 23. the sixth rotating shaft, 24. the first servo motor, 25, 25 '. the seventh rotating shaft, 26. the second frame shape, 27. the fourth telescopic rod, 28. the first Three H-shaped connecting rods, 29, 29'. the eighth rotating shaft, 30. the fourth H-shaped connecting rod, 31. the second servo motor, 32, 32'. the ninth rotating shaft, 33. the fifth H-shaped connecting rod , 34. Spline shaft, 35. Tenth rotating shaft, 36. Sixth H-shaped connecting rod, 37. Spline sleeve, 38. Eleventh rotating shaft, 39. Seventh H-shaped connecting rod, 40. Eighth H-shaped connecting rod, 41, 41'. the twelfth rotating shaft, 42. the fifth telescopic rod, 43. the thirteenth rotating shaft, 44. the synchronous belt assembly.

detailed description

In the schematic diagram of the series-parallel stamping loading and unloading manipulator shown in Figure 1, the base 1 is connected to the main arm 2, the main arm is connected to the middle arm 3, the middle arm is connected to the small arm 4, and the small arm is connected to the end picker 5 , the end picker grabs the workpiece 6 and sends it into the press 7.

As shown in Figure 2, one end of the boom main part 12 in the boom is connected to one end of the first telescopic rod 9 and the second telescopic rod 10 through a pair of second ball pairs 11, 11', the first and second telescopic rods The second telescopic link is respectively connected to one side of the base through the first ball pair 8, 8'; the bottom of the U-shaped piece 22 is connected to the other side of the base through the sixth rotating shaft 23, and the upper end of the U-shaped piece is passed through the first Five rotating shafts 21 are connected with the main part of the boom; through the drive of the first telescopic rod and the second telescopic rod, the two-dimensional rotation of the main part of the big arm of the manipulator relative to the base can be realized, and the two-dimensional rotation of the big arm relative to the base can be realized. The two rotations are perpendicular to each other, and the first telescopic rod and the second telescopic rod have the same structure. One end of the first H-shaped connecting rod 14 in the middle arm is connected with the upper end of the other end of the above-mentioned boom main part through the first rotating shaft 13, and the other end of the first H-shaped connecting rod is connected through the second rotating shaft 15 It is connected with the upper end of the first frame member; one end of the second H-shaped connecting rod 17 is connected with the lower end of the other end of the above-mentioned boom main part through another first rotating shaft 13', and the other end of the second H-shaped connecting rod One end is connected with the lower end of the first frame member 16 through another second rotating shaft 15'; one end of the third telescopic rod 19 is connected with the middle part of the above-mentioned boom main part through the fourth rotating shaft 20, and the third telescopic rod The other end is connected with the middle part of the second H-shaped connecting rod through the third rotating shaft 18, and the one-dimensional rotation of the middle arm relative to the large arm can be realized through the driving of the third telescopic rod.

As shown in Fig. 3, Fig. 4 and Fig. 5, the fuselage of the first servo motor 24 in the forearm is affixed to the upper end lug of the above-mentioned first frame shape, and the output shaft of the first servo motor is connected to the The lugs on the upper end of the second frame shape 26 are affixed, and the lower end lugs of the first frame shape are connected with the lower end lugs of the second frame shape through a rotating shaft; one end of the third H-shaped connecting rod 28 and the eighth H-shape One end of the connecting rod 40 is connected with the middle part of the second frame member through the thirteenth rotating shaft 43, and the other end of the third H-shaped connecting rod is connected with one end of the fourth H-shaped connecting rod 30 through the eighth rotating shaft 29, The other end of the eighth H-shaped connecting rod is connected with one end of the seventh H-shaped connecting rod 39 through another eighth rotating shaft 29 ′, and the other end of the seventh H-shaped connecting rod is connected with the fifth H-shaped connecting rod through the ninth rotating shaft 32 One end of the connecting rod 33 is connected, and the other end of the fourth H-shaped connecting rod is connected with an end of the sixth H-shaped connecting rod 36 through another ninth rotating shaft 32 ′; the second servo motor 31 is fixed to the eleventh rotating shaft 38 Then, the middle part of the fourth H-shaped connecting rod and the middle part of the seventh H-shaped connecting rod are connected by the eleventh rotating shaft, and the other end of the fifth H-shaped connecting rod and the other end of the sixth H-shaped connecting rod are connected by the tenth rotating shaft 35 connection, the spline sleeve 37 passes through the shaft hole on the eleventh rotating shaft, and its axial direction remains relatively fixed relative to the eleventh rotating shaft, but it has a rotational degree of freedom around its own axis, and the splined shaft 34 It passes through the shaft hole on the tenth rotating shaft, and its axial direction is relatively fixed relative to the tenth rotating shaft, but it has a degree of freedom of rotation around its own axis. The spline shaft and the spline sleeve are connected by spline fit, so that The spline shaft has a degree of freedom of movement relative to the axial direction of the spline sleeve; the axis of the spline shaft, the axis of the spline sleeve, the shaft hole axis on the tenth rotation shaft, and the shaft hole axis on the eleventh rotation shaft are all collinear; the second servo motor drives the spline sleeve to rotate through the synchronous belt assembly 44, thereby driving the one-dimensional rotation of the end picker relative to the forearm through the cooperation of the spline sleeve and the spline shaft; the fourth telescopic One end of the rod 27 is connected to the upper part of the above-mentioned second frame member through the seventh rotating shaft 25, and the other end of the fourth telescopic rod is connected to the middle and upper part of the above-mentioned third H-shaped connecting rod through another seventh rotating shaft 25' One end of the fifth telescopic link 42 is connected with the bottom of the above-mentioned second frame member through the twelfth rotating shaft 41, and the other end of the fifth telescopic link is connected with the above-mentioned eighth H-shaped part through another twelfth rotating shaft 41' The middle and lower parts of the connecting rod are connected; through the coordinated drive of the fourth telescopic rod and the fifth telescopic rod, the telescopic movement of the small arm and the one-dimensional rotation around the thirteen rotation axes can be realized.

In the whole mechanical arm, except that the sixth rotating shaft is vertically installed, all the others are installed parallel to each other horizontally.

Driven by the first servo motor, the one-dimensional rotation of the forearm relative to the middle arm can be realized, that is, the rotation of the forearm around the center line where the motor shaft is located. Driven by the second servo motor, the end effector can be realized around the middle of the forearm. One-dimensional rotation of the centerline on which the spline shaft lies. The workpiece is picked up by the end picker, and driven by five telescopic rods and two servo motors on the main arm, middle arm and small arm, the efficient circulation of the workpiece on the automatic stamping production line can be realized.

Claims (2)

1. A series-parallel hybrid stamping loading and unloading manipulator, which includes a base, a large arm, a middle arm, a small arm and an end picker, wherein the base is connected with the large arm, the large arm is connected with the middle arm, and the middle arm is connected with the small The arm is connected, the small arm is connected with the end picker, and the middle arm includes a first H-shaped connecting rod, a first frame member, a second H-shaped connecting rod and a third telescopic rod, wherein one end of the first H-shaped connecting rod The other end of the first H-shaped connecting rod is connected with the upper end of the first frame member through the second rotating shaft, and the second H-shaped connecting rod One end of the rod is connected to the lower end of the other end of the boom main part through another first rotating shaft, and the other end of the second H-shaped connecting rod is connected to the lower end of the first frame member through another second rotating shaft, One end of the third telescopic rod is connected to the middle part of the above-mentioned boom main part through the fourth rotating shaft, and the other end of the third telescopic rod is connected to the middle part of the second H-shaped connecting rod through the third rotating shaft, and it is characterized in that: The boom includes a boom main part, a U-shaped part, a pair of first ball pairs, a pair of second ball pairs, a first telescopic rod and a second telescopic rod, wherein one end of the boom main part passes through a pair of second ball pairs The pair is connected to one end of the first telescopic rod and the second telescopic rod. The first and second telescopic rods are respectively connected to one side of the base through the first ball pair, and the bottom of the U-shaped piece is connected to the other side of the base through the second ball pair. The six rotating shafts are rotationally connected, and the upper end of the U-shaped part is connected to the boom main part through the fifth rotating shaft, and the first telescopic rod and the second telescopic rod have the same structure; The small arm includes a first servo motor, a second frame member, a fourth telescopic rod, a fifth telescopic rod, a third H-shaped connecting rod, a fourth H-shaped connecting rod, a fifth H-shaped connecting rod, and a sixth H-shaped connecting rod. Shaped connecting rod, the seventh H-shaped connecting rod, the eighth H-shaped connecting rod, the third servo motor, spline shaft and spline sleeve, wherein the fuselage of the first servo motor and the upper end lug of the first frame fixed connection, the output shaft of the first servo motor is fixedly connected to the lug at the upper end of the second frame shape, the lower end lug of the first frame shape is connected to the lower end lug of the second frame shape through a rotating shaft, and the third One end of the H-shaped connecting rod and one end of the eighth H-shaped connecting rod are connected to the middle part of the second frame member through the thirteenth rotating shaft, and the other end of the third H-shaped connecting rod is connected to the fourth H through the eighth rotating shaft. One end of the eighth H-shaped connecting rod is connected, the other end of the eighth H-shaped connecting rod is connected to one end of the seventh H-shaped connecting rod through another eighth rotating shaft, and the other end of the fourth H-shaped connecting rod is connected to the first H-shaped connecting rod through the ninth rotating shaft. One end of the six H-shaped connecting rods is connected, the other end of the seventh H-shaped connecting rod is connected to one end of the fifth H-shaped connecting rod through another ninth rotating shaft, the second servo motor is fixedly connected to the eleventh rotating shaft, and the second servo motor is fixedly connected to the eleventh rotating shaft. The middle part of the four H-shaped connecting rods is connected with the middle part of the seventh H-shaped connecting rod through the eleventh rotating shaft, and the other end of the fifth H-shaped connecting rod is connected with the other end of the sixth H-shaped connecting rod through the tenth rotating shaft. The key sleeve passes through the shaft hole on the eleventh rotating shaft, and its axial direction remains relatively fixed relative to the eleventh rotating shaft, but it has a rotational degree of freedom around its own axis, and the spline shaft passes through the tenth rotating shaft and its axial direction is relatively fixed relative to the tenth rotating shaft, but it has a degree of freedom of rotation around its own axis. The spline shaft and the spline sleeve are connected by spline fit, so that the spline shaft is relatively The axial direction of the key sleeve has a degree of freedom of movement; the axis of the spline shaft, the axis of the spline sleeve, the axis of the shaft hole on the tenth rotating shaft and the axis of the shaft hole on the eleventh rotating shaft are all collinear; The second servo motor drives the spline sleeve to rotate through the synchronous belt assembly, thereby driving the one-dimensional rotation of the end picker relative to the forearm through the cooperation of the spline sleeve and the spline shaft, and one end of the fourth telescopic rod rotates through the seventh The shaft is connected to the upper part of the second frame, the other end of the fourth telescopic rod is connected to the middle and upper part of the third H-shaped connecting rod through another seventh rotation shaft, and one end of the fifth telescopic rod is connected through the twelfth The rotation shaft is connected with the lower part of the second frame member, and the other end of the fifth telescopic rod is connected with the middle and lower part of the eighth H-shaped connecting rod through another twelfth rotation shaft. 2. The serial-parallel hybrid stamping loading and unloading manipulator according to claim 1, characterized in that, except for the sixth rotating shaft installed vertically, the rest of the rotating shafts are installed parallel to each other and horizontally.