CN114939883A

CN114939883A - High-speed reciprocating manipulator

Info

Publication number: CN114939883A
Application number: CN202210771545.7A
Authority: CN
Inventors: 孙丰; 张宝峰; 吴斌; 刘斌
Original assignee: Suzhou Secote Precision Electronic Co Ltd
Current assignee: Suzhou Secote Precision Electronic Co Ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-08-26

Abstract

The invention provides a high-speed reciprocating manipulator which comprises a fixing plate, a motor, a speed reducer connected with the output end of the motor, a swing arm, a bearing assembly, a first sliding assembly, a second sliding assembly and a suction assembly, wherein a guide part is arranged on one side of the fixing plate, a guide channel is arranged on the guide part, the speed reducer is fixedly arranged on the other side of the fixing plate, the swing arm is eccentrically connected with the output end of the speed reducer, a sliding groove is formed in the swing arm, the bearing assembly is slidably arranged in the sliding groove, the first sliding assembly is slidably arranged on one side, provided with the guide part, of the fixing part, the second sliding assembly is slidably arranged on the first sliding assembly, the second sliding assembly is fixedly connected with the bearing assembly, and the suction assembly is fixedly connected with the second sliding assembly. The invention realizes high-speed feeding or discharging, has high carrying efficiency, improves the UPH of equipment and saves the space of the equipment.

Description

High-speed reciprocating manipulator

Technical Field

The invention relates to the technical field of automatic production equipment, in particular to a high-speed reciprocating manipulator.

Background

With the continuous development of electronic technology and the improvement of living standard of people, the quality requirement and the quantity requirement of people on electronic products are also continuously increased, and the updating and upgrading of the electronic products are accelerated. The quantity of electronic products is large in demand and the generation is fast to update, and in addition, the labor cost is fast to rise at present, the profits of enterprises are compressed, higher requirements are put forward for the manufacturing industry, the requirements for equipment UPH required by production are higher and higher, the UPH means the output per hour, and the speed of each work station needs to be extremely high in production, so that the labor cost is reduced. Therefore, a new technical solution is needed to solve at least one of the above problems.

Disclosure of Invention

In view of the above disadvantages, an object of the present invention is to provide a high-speed reciprocating manipulator, which can realize high-speed loading or unloading, has high carrying efficiency, can lift up the equipment UPH, and can save the equipment space.

In order to achieve the technical purpose and achieve the technical requirements, the invention adopts the technical scheme that:

a high-speed shuttle robot comprising:

a fixing plate; a guide part is arranged on one side of the fixed plate, and a guide channel is arranged on the guide part;

the motor and the speed reducer are connected with the output end of the motor; the speed reducer is fixedly arranged on the other side of the fixing plate;

swinging arms; the swing arm is eccentrically connected with the output end of the speed reducer, and a sliding groove is formed in the swing arm;

a bearing assembly; the bearing assembly is arranged in the sliding groove in a sliding mode;

a first slide assembly; the first sliding assembly is arranged on one side of the fixing part, on which the guide part is arranged, in a sliding manner;

a second slide assembly; the second sliding assembly is arranged on the first sliding assembly in a sliding mode and fixedly connected with the bearing assembly;

a suction assembly; the sucking component is fixedly connected with the second sliding component.

Preferably, the guide part has a segmented structure composed of a first guide block and a second guide block, the guide channel includes a first guide groove and a second guide groove, the first guide groove is disposed on the first guide block, the second guide groove is disposed on the second guide block, one end of the first guide groove penetrates through one end of the first guide block facing the second guide block, one end of the second guide groove penetrates through one end of the second guide block facing the first guide block, the first guide block and the second guide block are separately provided to facilitate installation and adjustment of a bearing assembly, the first guide groove and the second guide groove form a reciprocating path, and the guide effect is good.

As a preferable technical solution, the first guide groove includes a first X-direction section and a first Z-direction section that are sequentially communicated, the second guide groove includes a second X-direction section and a second Z-direction section that are sequentially communicated, the first X-direction section and the second X-direction section constitute an X-direction path, and the first Z-direction section and the second Z-direction section constitute a Z-direction path, so that the manipulator has 2 moving directions, and the handling efficiency is high.

Preferably, the first slider assembly includes a first guide rail and a first slider slidably disposed on the first guide rail, and the first guide rail is fixedly disposed on the fixing portion along the X direction.

Preferably, the second sliding assembly includes a second slider and a second guide rail, the second slider is fixedly connected to the first slider, the second guide rail is slidably disposed on the second slider along the Z direction, and the second guide rail is fixedly connected to the bearing assembly.

As preferred technical scheme, it establishes to absorb the subassembly includes the fixed block, fix interface on the fixed block, with fixed block elastic connection's buffer block, with buffer block fixed connection's connecting plate, setting are in a plurality of suction nozzles of connecting plate, the buffer block slides and sets up on the fixed block, the suction nozzle with the interface communicates with each other, interface connection has the air supply, and the buffer block makes the suction nozzle form the buffering and absorbs the effect when absorbing the work piece, more firmly holds the work piece.

As the preferred technical scheme, be equipped with the caulking groove on the buffer block, be equipped with the spring in the caulking groove, the fixed briquetting that is provided with on the fixed block, the one end of spring with the bottom surface of caulking groove offsets, its other end with the bottom surface of briquetting offsets, and the spring forms elastic connection, and the structure is retrencied practical.

As preferred technical scheme, the briquetting is gone up to slide and is worn to be equipped with the direction subassembly, the spring housing is established on the direction subassembly, the one end of direction subassembly with the bottom surface of caulking groove offsets, has the direction effect during buffer block compression spring, and spring compression stability is better.

As preferred technical scheme, the fixed block orientation the one end of buffer block is equipped with the third guide rail, the buffer block orientation the one end of fixed block is equipped with the third slider, the third slider slides and sets up on the third guide rail, promote the motion stability of buffer block, promote the motion direction effect of buffer block.

As the preferred technical scheme, the connecting plate is provided with an adjusting groove which axially penetrates through the connecting plate, the suction nozzle is detachably arranged in the adjusting groove, and the suction nozzle is adjusted in the adjusting groove to adapt to workpieces with different sizes.

The invention has the beneficial effects that:

the motor passes through the speed reducer and drives the swing arm high-speed rotatory, and the swing arm drives the bearing assembly and moves in the direction passageway to drive first slip subassembly or the motion of second slip subassembly, thereby accomplish high-speed material loading or unloading, the handling efficiency is high, lifting means UPH, and practiced thrift the equipment space.

Drawings

FIG. 1 is a three-dimensional view of a high speed shuttle robot provided in accordance with one embodiment of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is a view from another direction of FIG. 1;

FIG. 4 is a view in the other direction of FIG. 1;

fig. 5 is a view in the other direction of fig. 1.

In fig. 1-5, 1, a fixing plate; 101. a first guide block; 1011. a first guide groove; 10111. a first X-direction segment; 10112. a first Z-direction segment; 10113. a first arc segment; 102. a second guide block; 1021. a second guide groove; 10211. a second X-direction segment; 10212. a second Z-direction segment; 10213. a second arc segment; 2. a motor; 3. a speed reducer; 4. swinging arms; 401. a chute; 5. a first bearing; 6. a second bearing; 7. a connecting shaft; 8. a first guide rail; 9. a first slider; 10. a second guide rail; 11. a second slider; 12. a fixed block; 13. an interface; 14. a buffer block; 15. a connecting plate; 1501. an adjustment groove; 16. a suction nozzle; 17. a spring; 18. briquetting; 19. a first guide post; 1901. an indicator cap; 20. a second guide post; 21. a mounting seat; 22. a photosensor; 2201. an indication slot; 2202. an indicator mark; 2203. a limiting rod; 23. mounting a plate; 24. a third guide rail; 25. a third slider; 26. connecting blocks; 27. a connecting seat.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "top", "bottom", "left", "right", "front", "back", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description of the present invention, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms described above will be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1 to 5, a high-speed reciprocating manipulator according to an embodiment of the present invention includes a fixing plate 1, a motor 2, a speed reducer 3 connected to an output end of the motor 2, a swing arm 4, a bearing assembly, a first sliding assembly, a second sliding assembly, and a suction assembly, wherein a guide portion is disposed on one side of the fixing plate 1, and a guide channel is disposed on the guide portion; the speed reducer 3 is fixedly arranged on the other side of the fixing plate 1, the swing arm 4 is eccentrically connected with the output end of the speed reducer 3, the swing arm 4 is provided with a sliding groove 401, the bearing assembly is slidably arranged in the sliding groove 401, the first sliding assembly is slidably arranged on one side of the fixing part, which is provided with the guide part, the second sliding assembly is slidably arranged on the first sliding assembly, the second sliding assembly is fixedly connected with the bearing assembly, and the suction assembly is fixedly connected with the second sliding assembly, although the prior art finishes feeding or discharging through an air cylinder, the UPH is low and the carrying efficiency is not high, the inventor utilizes the motor 2 to drive the swing arm 4 to rotate through the speed reducer 3, the swing arm 4 drives the bearing assembly to move at a high speed in the guide channel, and the first sliding assembly and the second sliding assembly are arranged to meet the requirements of different carrying paths, the occupied space is small, the equipment space is saved, the whole process is high-speed movement, and the carrying efficiency is improved, so that the UPH is improved, and the UPH reaches above 3600PCS in practical application.

The high-speed reciprocating manipulator is used for automatic equipment, and the motor is controlled by an automatic control system.

Further, spout 401 is one end open-ended U-shaped groove, and 4 open-ended one ends of swing arm are the head end, and its other end is the tail end, and speed reducer 3's output is close to swing arm 4's tail end, and speed reducer 3's output passes through the key-type connection with swing arm 4, and the bottom surface in U-shaped groove extends to the tail end to obtain better swing effect, thereby it is better to drive the effect of bearing assembly motion.

As shown in fig. 1 to 5, in some specific embodiments, the guide portion is formed by a first guide block 101 and a second guide block 102 in a segmented structure, the guide channel includes a first guide groove 1011 and a second guide groove 1021, the first guide groove 1011 is disposed on the first guide block 101, the second guide groove 1021 is disposed on the second guide block 102, one end of the first guide groove 1011 penetrates through one end of the first guide block 101 facing the second guide block 102, one end of the second guide groove 1021 penetrates through one end of the second guide block 102 facing the first guide block 101, further, the first guide groove 1011 includes a first X-direction segment 10111 and a first Z-direction segment 10112 which are sequentially connected, the second guide groove 1021 includes a second X-direction segment 10211 and a second Z-direction segment 10212 which are sequentially connected, in an automatic packaging or assembling apparatus, the manipulator generally needs to move in the X direction and the Z direction, although the prior art adopts a transverse moving cylinder and a vertical moving cylinder to move in the X direction and the Z direction, the carrying efficiency is low, the occupied space is large, an X-direction path is formed by a first X-direction section 10111 and a second X-direction section 10211, a Z-direction path is formed by a first Z-direction section 10112 and a second Z-direction section 10212, the swing arm 4 rotates at a high speed to drive the bearing assembly to move at a high speed in the X direction and the Z direction, and meanwhile, the first sliding assembly and the second sliding assembly are matched to enable the suction assembly to move at a high speed in the X direction and the Z direction so as to realize high-speed carrying, the carrying efficiency is greatly improved, meanwhile, the first guide block 101 and the second guide block 102 are arranged in a segmented manner, the bearing assembly is more convenient to mount and adjust, and the whole movement stability is good.

Further, the first X direction section 10111 and the first Z direction section 10112 are transited through a first circular arc section 10113, and the second X direction section 10211 and the second Z direction section 10212 are transited through a second circular arc section 10213, so that the bearing assembly moves more smoothly in the first guide groove 1011 and the second guide groove 1021, and the bearing assembly is prevented from being locked.

As shown in fig. 1 to 5, in some specific embodiments, the first slider 9 assembly includes a first guide rail 8, a first slider 9 slidably disposed on the first guide rail 8, the first guide rail 8 is fixedly disposed on the fixed portion along the X direction, the movement in the X direction is realized by sliding the first slider 9 on the first guide rail 8, the swing arm 4 rotates at a high speed to drive the bearing assembly to move at a high speed in the first X direction segment 10111 and the second X direction segment 10211, the first slider 9 moves along the first guide rail 8 in the X direction, further, the second slider assembly includes a second slider 11 and a second guide rail 10, the second slider 11 is fixedly connected with the first slider 9, the second guide rail 10 is slidably disposed on the second slider 11 along the Z direction, the second guide rail 10 is fixedly connected with the bearing assembly, when the bearing assembly moves in the first Z direction segment 10112 and the second Z direction segment 10212, second guide rail 10 moves along the Z direction in second slider 11, and second slider 11 and first slider 9 pass through connecting seat 27 fixed connection, and first slider 9 drives second slider 11 and moves along the X direction to make the manipulator can be high-speed motion in X direction and Z direction, realized the high-speed motion of manipulator equidirectional, improved handling efficiency, and the motion is stable.

Further, the bearing assembly includes first bearing 5, second bearing 6, connecting axle 7, and first bearing 5 and the 6 cover of second bearing are established on connecting axle 7, and the one end of connecting axle 7 is provided with the axle cap, blocks second bearing 6, prevents that second bearing 6 from landing from connecting axle 7, the quantity of second guide rail 10 is 2, the quantity of second slider 11 is 2, has connecting block 26 through bolt-up connection on 2 second guide rails 10, and connecting block 26 is T shape structure, and connecting axle 7 inserts the center of establishing at connecting block 26, and first bearing 5 is established in spout 401 to roll in spout 401, second bearing 6 rolls in first guide way 1011 and second guide way 1021, and frictional force is little, and the rate of motion is high.

As shown in fig. 1 to 5, in some specific embodiments, the suction assembly includes a fixed block 12, a port 13 fixedly disposed on the fixed block 12, a buffer block 14 elastically connected to the fixed block 12, a connecting plate 15 fixedly connected to the buffer block 14, and a plurality of suction nozzles 16 disposed on the connecting plate 15, the fixed block 12 is fixedly disposed on the second guide rail 10, the suction nozzles 16 are communicated with the port 13, the port 13 is connected to an air source, in an automatic packaging device, a plurality of flat workpieces need to be loaded and unloaded, a fixture is very easy to damage such workpieces, cracks may be generated when grabbing such workpieces, the suction nozzles 16 are used to suck the workpieces, the suction nozzles 16 are directly used to suck the workpieces to load and unload, thus, no damage may be caused to the surfaces of the workpieces, the yield of the workpieces is increased, but when the suction nozzles 16 suck the workpieces in a downward direction, if the suction nozzle 16 cannot be in sufficient contact with the surface of the workpiece and is easy to suck empty, if the downward distance of the suction nozzle 16 is too large, the suction nozzle 16 is broken, and the proper distance for sucking is difficult to grasp, the buffer block 14 is arranged to buffer after the suction nozzle 16 contacts the workpiece, the suction nozzle 16 can be in sufficient contact with the surface of the workpiece in the buffer process, and enough sucking time is given, so that the suction nozzle 16 can suck the workpiece more firmly, and the suction nozzle 16 cannot be broken due to overpressure.

Furthermore, the suction nozzle 16 is provided with a pressure spring therein, and has a buffering effect.

Further, be equipped with the caulking groove on the buffer block 14, be equipped with spring 17 in the caulking groove, the fixed briquetting 18 that is provided with on the fixed block 12, spring 17's one end with the bottom surface of caulking groove offsets, its other end with the bottom surface of briquetting 18 offsets, briquetting 18 and fixed block 12 fastening connection, buffer block 14 pass through

spring

17 and 18 elastic connection of briquetting, spring 17's both ends only need respectively with

briquetting

18 and 14 offsets can, need not fixed connection, inlay in the caulking groove and establish spring 17, carry out radial spacing to spring 17, simple structure is practical, prevents that spring 17 from dropping from the buffer block.

Further, sliding on the briquetting 18 and wearing to be equipped with the direction subassembly, spring 17 cover is established on the direction subassembly, the one end of direction subassembly with the bottom surface of caulking groove offsets, if spring 17 does not set up the guide post in compression process, then the compression is unstable, takes place the skew easily, probably leads to spring 17 atress inhomogeneous and fracture, sets up the guide post and makes spring 17 compression have the guidance quality, and compression process is more stable.

Further, the guide assembly comprises a first guide column 19 and a second guide column 20, an indication cap 1901 is arranged at the upper end of the first guide column 19, an installation seat 21 is arranged at the upper end of the pressing block 18, the installation seat 21 is fixedly connected with the fixed block 12, a photoelectric sensor 22 is adjustably arranged on the installation seat 21, an indication groove 2201 is formed in the photoelectric sensor 22, the indication cap 1901 penetrates through the indication groove 2201, indication marks 2202 are carved on two sides of the indication groove 2201, and the installation seat 21 can sense the indication cap 1901, so that a signal is sent to an automatic control system to stop pressing down, the pressing-down displacement of the buffer block 14 can be controlled to meet the requirement, and the overpressure or insufficient pressing-down distance is prevented.

Further, a waist-shaped hole is formed in the mounting seat 21, the photoelectric sensor 22 is connected with the mounting seat 21 through a bolt, the bolt is arranged in the waist-shaped hole, and the photoelectric sensor 22 is adjusted by screwing and unscrewing the bolt.

Further, the upper end of fixed block 12 is equipped with mounting panel 23, and mounting panel 23 passes through bolt-up with fixed block 12 to be connected, and interface 13 is installed on mounting panel 23, is equipped with gag lever post 2203 on the mount pad 21, prevents that the regulating distance is improper, and the bottom surface cooperation control regulating distance of gag lever post 2203 and mounting panel 23, when gag lever post 2203 offseted with mounting panel 23 bottom surface, is the maximum distance adjustable promptly.

Further, the fixed block 12 is equipped with third guide rail 24 towards the one end of buffer block 14, buffer block 14 orientation the fixed third slider 25 that is equipped with in one end of fixed block 12, third slider 25 slides and sets up on the third guide rail 24, buffer block 14 and third slider 25 fastening connection, buffer block 14 passes through third slider 25 and moves on third guide rail 24, and the guidance quality is good, and buffer block 14 moves more stably.

As shown in fig. 1 to 5, in some specific embodiments, the connecting plate 15 is provided with an axially-extending adjustment groove 1501, the suction nozzle 16 is detachably disposed in the adjustment groove 1501, further, the connecting plate 15 is square, the number of the adjustment grooves 1501 is 4, the 4 adjustment grooves 1501 are symmetrically disposed, the adjustment grooves 1501 are kidney-shaped, the adjustment grooves 1501 are disposed along the diagonal of the connecting plate 15 and located at 4 corners of the connecting plate 15, due to different sizes of the workpieces, the suction nozzle 16 is adjusted on the diagonal of the connecting plate 15 by using the adjustment grooves 1501 for sucking different workpieces, and the suction force is balanced, so that the suction is firmer after suction and has better stability.

The foregoing examples are given solely for the purpose of illustrating the invention and are not to be construed as limiting the embodiments, and other variations and modifications in form thereof will be suggested to those skilled in the art upon reading the foregoing description, and it is not necessary or necessary to exhaustively enumerate all embodiments and all such obvious variations and modifications are deemed to be within the scope of the invention.

Claims

1. A high-speed shuttle robot, comprising:

a first sliding assembly; the first sliding assembly is arranged on one side of the fixing part, on which the guide part is arranged, in a sliding manner;

2. The high-speed shuttle robot according to claim 1, wherein the guide part is constructed in a segmented manner by a first guide block and a second guide block, the guide passage includes a first guide groove and a second guide groove, the first guide groove is provided on the first guide block, the second guide groove is provided on the second guide block, one end of the first guide groove penetrates through an end of the first guide block facing the second guide block, and one end of the second guide groove penetrates through an end of the second guide block facing the first guide block.

3. The high-speed shuttle robot according to claim 2, wherein the first guide groove comprises a first X-direction segment and a first Z-direction segment which are sequentially connected, and the second guide groove comprises a second X-direction segment and a second Z-direction segment which are sequentially connected.

4. The high-speed shuttle robot as claimed in claim 3, wherein the first slider assembly includes a first guide rail, a first slider slidably disposed on the first guide rail, and the first guide rail is fixedly disposed on the fixing portion along the X direction.

5. The high-speed shuttle robot of claim 4 wherein the second slide assembly includes a second slide block fixedly coupled to the first slide block and a second guide rail slidably disposed on the second slide block in the Z direction, the second guide rail fixedly coupled to the bearing assembly.

6. The high-speed reciprocating manipulator according to claim 1, wherein the suction assembly comprises a fixed block, a port fixedly arranged on the fixed block, a buffer block elastically connected with the fixed block, a connecting plate fixedly connected with the buffer block, and a plurality of suction nozzles arranged on the connecting plate, the buffer block is slidably arranged on the fixed block, the suction nozzles are communicated with the port, and the port is connected with an air source.

7. The manipulator as claimed in claim 6, wherein the buffer block has a groove, a spring is disposed in the groove, a pressing block is fixed on the fixing block, one end of the spring abuts against the bottom of the groove, and the other end of the spring abuts against the bottom of the pressing block.

8. The high-speed reciprocating manipulator according to claim 7, wherein a guide assembly is slidably arranged on the pressing block in a penetrating manner, the spring is sleeved on the guide assembly, and one end of the guide assembly abuts against the bottom surface of the caulking groove.

9. The high-speed shuttle manipulator according to claim 8, wherein the fixed block is provided with a third guide rail at an end facing the buffer block, and the buffer block is provided with a third slide block at an end facing the fixed block, and the third slide block is slidably disposed on the third guide rail.

10. A high-speed shuttle manipulator according to any one of claims 6 to 9 wherein the connecting plate is provided with an axially extending adjustment slot in which the suction nozzle is removably disposed.