CN204308081U - A kind of multi-functional loading and unloading manipulator - Google Patents

Abstract

The utility model discloses a multifunctional loading and unloading manipulator, which comprises two cross-bar mounting seats, an X-axis transfer component arranged between the two cross-bar mounting seats and capable of reciprocating movement in the X-axis direction relative to the cross-bar mounting seats, The Z-axis transfer assembly is arranged on the X-axis transfer assembly and can reciprocate in the Z-axis direction relative to the X-axis transfer assembly, the Y-axis transfer assembly is arranged on the Z-axis transfer assembly and can reciprocate in the Y-axis direction relative to the Z-axis transfer assembly, and The end effector mount set on the Y-axis transfer assembly. The beneficial effects of the utility model are: the multi-functional loading and unloading manipulator realizes the transfer of materials through the combination of synchronous belt, gear and rack, which not only reduces the space occupied by the manipulator, but also achieves the purpose of long-distance transfer of materials. The material picked up by the picker is transported to the designated position at a relatively fast speed.

Description

A multifunctional loading and unloading manipulator

technical field

The utility model relates to a multifunctional loading and unloading manipulator, which belongs to the technical field of robot manufacturing.

Background technique

In the traditional stamping industry, the stamping and forming of products is mainly realized by manual handling and stamping action of the press, which has disadvantages such as low efficiency, high risk, and uneven product quality. After the introduction of an automated production line, manipulators or robots have been used to replace the manual handling of workpieces, which has greatly improved safety, production efficiency, and product consistency. The manipulator uses servo motors, pneumatic actuators, hydraulic drive actuators, etc. as power sources, and drives pneumatic suction cups, magnetic suction cups, grippers, etc. through various transmission mechanisms to grab materials to achieve movement in different directions, so as to achieve Mechanical equipment for workpiece transfer purposes. With the development of the machine tool industry, the style of the manipulator is also following the development, resulting in great changes.

The structure of stamping manipulators on the market is complicated, and some use synchronous belt transmission to realize material transfer, but the long-distance transmission of synchronous belts makes the tensioning and sealing of synchronous belts take up a lot of design space, and it is necessary to solve the problem of manipulators avoiding equipment presses space problems; some use gears and racks to transfer materials, but the transfer distance of gears and racks should not be too long, and the requirements for manufacturing and installation accuracy are high; some use chain transmission to transfer materials, and chain transmission is more efficient than the above two methods. There are disadvantages such as impact, noise, inaccurate positioning, and a large space required, so it is not suitable for long-distance material transfer by manipulators.

Contents of the invention

The purpose of the utility model is to provide a multifunctional loading and unloading manipulator, which solves the technical defects of the prior art that the loading and unloading manipulator occupies a large space and has a large impact noise.

For solving the problems referred to above, the technical scheme that the utility model takes is:

A multi-functional loading and unloading manipulator, comprising two cross-bar mounts, an X-axis transfer component arranged between the two cross-bar mounts that can reciprocate in the direction of the X-axis relative to the cross-bar mounts, and an X-axis transfer The Z-axis transfer component that can reciprocate in the Z-axis direction relative to the X-axis transfer component on the component, the Y-axis transfer component that is arranged on the Z-axis transfer component and that can reciprocate in the Y-axis direction relative to the Z-axis transfer component, and the Y-axis transfer component that is set on the Y-axis transfer component End effectors on components.

As a further improvement of the present utility model, the X-axis transfer assembly includes a crossbeam with two ends arranged on the crossbar mount, a servo motor mount and a first servo motor disposed on the servo motor mount, the crossbeam The first guide rail and the first rack are arranged along the direction of the X axis, the first slider matching the first guide rail is arranged on the servo motor mounting base, and the first gear is arranged on the output shaft of the servo motor. A gear meshes with the first rack.

As a further improvement of the utility model, the Z-axis transfer assembly includes a Z-axis frame and a second servo motor installed on the servo motor mounting base, and the Z-axis frame is provided with a second guide rail along the direction of the Z-axis and the second rack, the servo motor mount is provided with a second slider corresponding to the second guide rail, the output shaft of the second servo motor is provided with a second gear, the second gear and the second tooth strips mesh.

As a further improvement of the present utility model, the Y-axis transfer assembly includes a Y-axis frame, a third servo motor and an end effector mounting seat arranged at the bottom of the Z-axis frame, and a second slider is arranged at the bottom of the Z-axis frame. block, the bottom and top of the Y-axis frame are respectively provided with a third guide rail and a second guide rail matched with the second slider, and the Y-axis frame is provided with a first synchronous belt and a second synchronous belt along the Y-axis direction, The bottom of the Z-axis frame is provided with two first pulleys and a second pulley driven by a third servo motor, and the first synchronous belt respectively passes around the first pulley and the second pulley and the first The two ends of the synchronous belt are respectively fixed on the two ends of the Y-axis frame, the bottom of the Z-axis frame is fixed to the upper part of the second synchronous belt, and the end picker mounting seat is provided with a The third slider, and the top of the end effector mount is fixed with the lower part of the second timing belt.

As a further improvement of the present utility model, the second pulley is provided with teeth, and the first synchronous belt is provided with teeth meshing with the second pulley.

As a further improvement of the utility model, the outer surface of the first pulley is smooth, and the side where the first synchronous belt cooperates with the first pulley is a smooth surface.

The beneficial effects of the utility model are: the multi-functional loading and unloading manipulator realizes material transfer through the combination of synchronous belt, gear and rack, which not only reduces the space occupied by the manipulator, but also achieves the purpose of long-distance material transfer. The main purpose of the manipulator is to realize the automatic feeding of large multi-station presses during the working process, to make the workpieces switch stations and unload sequentially in the press according to the process requirements, so as to achieve automatic feeding equipment for fully automatic processing parts. The manipulator is suspended and installed on the front or rear column of the press, which can realize the actions of vertical grabbing, longitudinal and horizontal transfer. The timing belt moves with the linear guide rail. During the entire stamping process, the manipulator does not need to stop the press to wait for the transfer of the material, so the production efficiency is greatly improved. The lifting and transfer actions of the manipulator and the action of the press can overlap each other in time. Thereby, the action time in each direction is guaranteed to be more sufficient, the movement speed of each component is correspondingly reduced, and the movement of the manipulator is more stable. In the utility model, the third servo motor in the Y-axis transfer assembly drives the second pulley, so that the Y-axis frame moves in the Y-axis direction relative to the third servo motor, and the second pulley and the first synchronous belt are provided with intermeshing teeth, the second pulley and the first timing belt will not slip, and the two first pulleys make the surface of the second pulley in contact with the first timing belt larger, and there are more meshing teeth, which also play a role in tension The role of the wheel, because the upper part of the second timing belt is fixed to the Z-axis frame, and the lower part of the second timing belt is fixed to the top of the end picker mounting seat, so the end picker reciprocates in the Y-axis direction relative to the Y-axis frame, and its The direction of movement is the same as that of the Y-axis frame, and the speed is equal to the speed of the Y-axis frame moving relative to the Z-axis frame. Therefore, the speed of the end picker moving relative to the Z-axis frame is the movement of the Y-axis frame relative to the Z-axis frame Twice the speed of the machine, the material picked up by the end picker is transported to the designated position at a faster speed.

Description of drawings

Fig. 1 is the structural representation of the utility model.

Fig. 2 is a schematic diagram reflecting the internal structure of the Z-axis transfer assembly in the present invention.

Fig. 3 is a schematic diagram reflecting the internal structure of the Y-axis transfer assembly in the present invention.

Detailed ways

The specific real-time mode of the present utility model will be further described below in conjunction with the accompanying drawings.

The multifunctional loading and unloading manipulator shown in Fig. 1, Fig. 2 and Fig. 3 includes two cross-bar mounts 4, which are arranged between the two cross-bar mounts 4 and can reciprocate in the X-axis direction relative to the cross-bar mounts The moving X-axis transfer assembly, the Z-axis transfer assembly that is set on the X-axis transfer assembly and can reciprocate in the Z-axis direction relative to the X-axis transfer assembly, and the Z-axis transfer assembly that is set on the Z-axis transfer assembly and can reciprocate in the Y-axis direction relative to the Z-axis transfer assembly The moving Y-axis transfer assembly and the end effector mount 5 arranged on the Y-axis transfer assembly.

The X-axis transfer assembly includes a crossbeam 11 with two ends arranged on the crossbar mounting base 4, a servo motor mounting base 12 and a first servo motor 13 disposed on the servo motor mounting base 12. The upper edge of the cross beam 11 The direction of the X axis is provided with the first guide rail 14 and the first rack 15, the first slide block 16 matched with the first guide rail 14 is arranged on the servo motor mount 12, and the first guide rail 16 is arranged on the output shaft of the first servo motor 13. Gear 17, the first gear 17 is meshed with the first rack 15.

The Z-axis transfer assembly includes a Z-axis frame 31, a second servo motor 32 arranged on the servo motor mounting base 12, and a second guide rail 33 and a second tooth are arranged on the Z-axis frame 31 along the direction of the Z axis. Bar 34, the second slide block 35 corresponding to the second guide rail 33 is arranged on the described servo motor mount 32, the output shaft of the second servo motor 32 drives the second gear (not shown in the figure) through the bevel gear, The second gear meshes with the second rack 34 .

The Y-axis transfer assembly includes a Y-axis frame 21, a third servo motor 22 arranged at the bottom of the Z-axis frame 31, and an end effector mounting seat 5. The bottom of the Z-axis frame 31 is provided with a second slider 23, The bottom and the top of the Y-axis frame 21 are respectively provided with a third guide rail 24 and a second guide rail 25 matched with the second slide block 23. The Y-axis frame 21 is provided with a first synchronous belt 26 and a first synchronous belt 26 along the Y-axis direction. Two synchronous belts 27, the bottom of the Z-axis frame 31 is provided with two first pulleys 28 and the second pulley 29 driven by the third servo motor 22, and the first synchronous belts 26 respectively go around the first The two ends of the pulley 28 and the second pulley 29 and the first synchronous belt 26 are respectively fixed on the two ends of the Y-axis frame 21, the second pulley 29 is provided with teeth, and the first synchronous belt 26 The teeth meshed with the second pulley 29 are arranged on the top, the outer surface of the first pulley 28 is smooth, the side of the first synchronous belt 26 and the first pulley 28 is a smooth surface, the second synchronous belt 27 The two ends are wound on the pulleys arranged at both ends of the Y-axis frame, the bottom of the Z-axis frame 31 is fixed to the upper part of the second synchronous belt 27, and the end picker mounting seat 5 is provided with a third guide rail 24 is matched with the third slide block 291, and the top of the end effector mounting base 5 is fixed with the bottom of the second synchronous belt 27.

Conveying in the X-axis direction: the first servo motor 13 is turned on, and the first gear 17 on its output shaft rotates. Since the first gear 17 meshes with the first rack 15, when the beam 11 is fixed, the servo motor mounting seat 12 Moving along the X-axis direction drives the Z-axis transfer assembly and the Y-axis transfer assembly to move in the X-axis direction, and the direction of motion is determined by the rotation direction of the first servo motor 13 .

Conveying in the direction of the Z axis: the second servo motor 32 is turned on, and the second servo motor 32 drives the second gear through the bevel gear. Since the second gear and the second rack 34 are meshed, the servo motor mounting seat does not move in the Z axis direction. When moving, the Z-axis frame 31 moves up and down in the Z-axis direction, and the direction of motion is determined by the rotation direction of the second servo motor 32. The Z-axis frame 31 moves up and down in the Z-axis, driving the Y-axis transfer assembly up and down in the Z-axis direction reciprocating motion.

Conveying in the Y-axis direction: the third servo motor 22 drives the second pulley 29, so that the Y-axis frame 21 moves in the Y-axis direction relative to the third servo motor 22, and the second pulley 29 and the first synchronous belt 26 are set The teeth that mesh with each other, the second pulley 29 and the first synchronous belt 26 will not slip, and the two first pulleys 28 make the contact surface of the second pulley 29 and the first synchronous belt 26 larger, and the meshing teeth are more Many, but also play the role of the tensioner, because the upper part of the second synchronous belt 27 is fixed with the Z-axis frame 31, and the lower part of the second synchronous belt 27 is fixed with the top of the end picker mounting seat 5, so the end picker is installed The seat 5 reciprocates in the Y-axis direction relative to the Y-axis frame 21, and its motion direction is the same as that of the Y-axis frame 21, and the speed is equal to that of the Y-axis frame 21 relative to the Z-axis frame 31. Therefore, the end pick The speed at which the device mount 5 moves relative to the Z-axis frame 31 is twice the speed at which the Y-axis frame 21 moves relative to the Z-axis frame 31. An end picker is arranged on the end picker mount 5, and the material picked up by the end picker Can be shipped faster.

In the utility model, the transportation in the X-axis direction, the transportation in the Y-axis direction and the transportation in the Z-axis direction can be operated separately, or each two can be operated together, or the transportation in the X-axis direction, the transportation in the Y-axis direction and the transportation in the Z-axis direction Transport works at the same time, depending on where the material is to be transported.

What is not specifically described in the utility model is the prior art, or can be realized through the prior art, and it should be understood that the specific implementation cases described in the utility model are only preferred implementation examples of the utility model. It is not intended to limit the implementation scope of the present utility model. That is, all equivalent changes and modifications made according to the content of the patent scope of the utility model should be regarded as the technical category of the utility model.

Claims (6)

1. a multi-functional loading and unloading manipulator, is characterized in that: comprise two cross bar mount pads, to be arranged between two cross bar mount pads can relative to cross bar mount pad in the X-axis direction reciprocating X-axis transfer assembly, to be arranged on X-axis transfer assembly can relatively X-axis transfer assembly at Z-direction reciprocating Z axis transfer assembly, to be arranged on Z axis transfer assembly and can relatively to transfer assembly in the reciprocating Y-axis of Y direction and be arranged on Y-axis and transfer terminal-collecting machine mount pad on assembly by Z axis transfer assembly.

2. multi-functional loading and unloading manipulator according to claim 1, it is characterized in that: described X-axis transfer assembly comprises the first servomotor that two ends are arranged on crossbeam on cross bar mount pad, servomotor mount pad and are arranged on servomotor mount pad, described crossbeam arranges the first guide rail and the first tooth bar along the direction of X-axis, servomotor mount pad is provided with the first slide block matched with the first guide rail, the output shaft of the first servomotor is arranged the first gear, the first described gear is meshed with the first tooth bar.

3. multi-functional loading and unloading manipulator according to claim 2, it is characterized in that: described Z axis transfer assembly comprises Z axis framework, the second servomotor be arranged on servomotor mount pad, described Z axis framework arranges the second guide rail and the second tooth bar along the direction of Z axis, described servomotor mount pad is provided with second slide block corresponding with the second guide rail, the output shaft of the second servomotor is arranged the second gear, the second described gear is meshed with the second tooth bar.

4. multi-functional loading and unloading manipulator according to claim 3, it is characterized in that: described Y-axis transfer assembly comprises Y-axis framework, be arranged on the 3rd servomotor and the terminal-collecting machine mount pad of Z axis base of frame, the bottom of described Z axis framework arranges the second slide block, the second guide rail that the bottom of Y-axis framework and top arrange the 3rd guide rail respectively and match with the second slide block, in described Y-axis framework, Y direction is provided with the first Timing Belt and the second Timing Belt, the bottom of described Z axis framework arranges two the first belt wheels and the second belt wheel by the 3rd driven by servomotor, the first described Timing Belt walks around the first belt wheel and the second belt wheel respectively and the two ends of the first Timing Belt are separately fixed at the two ends of Y-axis framework, the bottom of described Z axis framework and the top of the second Timing Belt are fixed, described terminal-collecting machine mount pad is provided with the 3rd slide block matched with the 3rd guide rail, and the bottom of the top of terminal-collecting machine mount pad and the second Timing Belt is fixed.

5. multi-functional loading and unloading manipulator according to claim 4, is characterized in that: the second described belt wheel is provided with tooth, the first described Timing Belt is provided with the tooth be meshed with the second belt wheel.

6. multi-functional loading and unloading manipulator according to claim 5, is characterized in that: the first described belt wheel smooth outer surface, the side that the first Timing Belt coordinates with the first belt wheel is shiny surface.