CN211639960U

CN211639960U - Manipulator debugging device

Info

Publication number: CN211639960U
Application number: CN202020130361.9U
Authority: CN
Inventors: 黄丛林
Original assignee: Anhui Huayuanda Technology Co ltd
Current assignee: Anhui Huayuanda Technology Co ltd
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-10-09
Anticipated expiration: 2030-01-20

Abstract

The utility model discloses a manipulator debugging device, the device include board, two relative settings and are in manipulator on the board is with being located two mould placement machine between the manipulator constructs, the manipulator is including the card holder with be used for the drive the card is held the drive module that a removal, two the card is held the piece and is moved towards respectively mould placement machine constructs, mould placement machine constructs including a plurality of movably settings on the board, be used for bearing the support piece of mould. Through the utility model discloses a mould is placed to manipulator debugging device and simulation operation manipulator, but acquires the manipulator reference adjustment of the operation position parameter for actual haulage equipment of manipulator, easy operation, labour saving and time saving, reduce cost expenditure.

Description

Manipulator debugging device

Technical Field

The utility model relates to a manipulator debugging technical field, in particular to manipulator debugging device.

Background

On an automatic production line, after being stamped by a die, a workpiece needs to be carried to the next die by a manipulator for multiple stamping forming. In practical production, different molds need to be replaced when different workpieces are machined, and due to the fact that the shapes and the structures of the molds are different, after the molds are replaced, the manipulator possibly has the situation of being blocked by the protruding parts of the molds in the operation process, and is not safe enough and has the risk of damaging equipment. Therefore, to achieve a good fit between the manipulator and the mold, the manipulator needs to be commissioned after each mold change.

However, at present, the debugging of the manipulator is realized by controlling the manipulator of the actual carrying equipment, which wastes time and labor, needs many people to assist in operation, and has high cost expenditure of labor and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a manipulator debugging device, aim at solving the manipulator debugging that is used for carrying mould die mould pressing work piece at present and difficultly consumes time and the higher problem of cost expenditure.

In order to achieve the above object, the utility model provides a manipulator debugging device, the device include board, two relative settings are in manipulator on the board is with being located two mould placement machine between the manipulator, the manipulator is including the card holding and being used for the drive module that a removal was held to the card, two a orientation is respectively held to the card the mould placement machine constructs, the mould placement machine constructs including a plurality of movably settings on the board, be used for bearing the support piece of mould.

Preferably, the driving module comprises a Z-axis linear module, a Y-axis linear module connected to the output execution end of the Z-axis linear module, and an X-axis linear module connected to the output execution end of the Y-axis linear module, and the output execution end of the X-axis linear module is connected to the clamping member.

Preferably, the X-axis linear module comprises an X-axis slide bar and an X-axis slide plate in sliding fit with the X-axis slide bar, and the clamping member is arranged on the X-axis slide plate.

Preferably, the Y-axis linear module comprises a Y-axis slide bar and a Y-axis slide plate in sliding fit with the Y-axis slide bar, and the X-axis linear module is arranged on the Y-axis slide plate.

Preferably, the Z-axis linear module comprises a mounting frame, a cylinder arranged on the mounting frame, and a Z-axis moving plate fixedly connected with a piston rod of the cylinder, and the Y-axis linear module is arranged on the Z-axis moving plate.

Preferably, the mounting rack is provided with a plurality of guide holes, and the Z-axis moving plate is provided with guide rods which penetrate through the guide holes and are used for guiding the Z-axis moving plate.

Preferably, the clamping piece comprises a supporting plate and limiting plates positioned on two sides of the supporting plate, and the supporting plate and the two limiting plates enclose a clamping space for clamping a workpiece.

Preferably, the mold placing mechanism further comprises an X-axis slide rail and a Y-axis slide rail, and the plurality of supporting members are respectively arranged on the X-axis slide rail and the Y-axis slide rail.

Preferably, a plurality of the supporting members are respectively provided with a clamping block for clamping the mold.

The utility model discloses technical scheme's beneficial effect lies in: the mould is placed on a plurality of support pieces of this manipulator debugging device's the mechanism of placing to block the piece through drive module drive card and remove simulation manipulator operation, in order to simulate the debugging to each manipulator, but acquire the operating position parameter of each manipulator and refer to the adjustment for the manipulator of actual haulage equipment, easy operation, labour saving and time saving can reduce the cost expenditure.

Drawings

Fig. 1 is a schematic structural view of a loading mold and a workpiece of a manipulator debugging device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a manipulator debugging device in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a manipulator of the manipulator commissioning device of fig. 2;

FIG. 4 is a schematic view of a retainer of the robot of FIG. 2;

fig. 5 is a schematic structural view of a placement mechanism of the manipulator adapter of fig. 2.

Detailed Description

In the following, the embodiments of the present invention will be described in detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides a manipulator debugging device, refer to fig. 1 and 2, the device includes board 100, two relative settings manipulator 200 on board 100 and is located the mould placement device 300 between two manipulators 200, and manipulator 200 is including the card to hold a 210 and be used for driving the card to hold the drive module 220 that a 210 removed, and two cards are held a 210 and are moved towards mould placement device 300 respectively, and mould placement device 300 includes a plurality of movably settings on board 100, is used for bearing the support piece 310 of mould 10.

The manipulator debugging device is mainly used in the field of debugging of the manipulator 200, and after the mold 10 is loaded, the manipulator 200 for carrying the workpiece pressed by the mold 10 is simulated to test whether the protruding parts of the manipulator 200 and the mold 10 are blocked or not, so that the manipulator 200 is debugged. Specifically, the manipulator 200 debugging device mainly comprises a machine table 100, a manipulator 200 and a mold placing mechanism 300, wherein:

referring to fig. 1, a machine 100 is a planar plate structure, and a plurality of mounting holes may be formed thereon for mounting a robot 200, a mold placing mechanism 300, and the like. The two manipulators 200 are oppositely arranged, the manipulator 200 includes a clamping member 210 and a driving module 220, the clamping member 210 is used for clamping the workpiece 20, and the clamping member 210 may include an adsorption plate to clamp the workpiece 20 in a vacuum adsorption manner. Specifically, the retainers 210 of the two robots 200 retain both ends of the workpiece 20. The driving module 220 may include a three-axis driving module 220 for realizing the operation of the clamping member 210 in three-axis directions, and the three-axis driving module 220 may adopt a structure of a linear guide rail and a sliding block or a structure of a guide rod and a sliding sleeve, and the arrangement structure thereof is not limited herein. The retaining member 210 is disposed at the executing end of the driving module 220, and the specific arrangement may be determined according to actual situations. The mold placing mechanism 300 is disposed between the two robots 200, the mold placing mechanism 300 includes a plurality of supports 310, the plurality of supports 310 are movably disposed on the machine table 100, and a disposition distance between the supports 310 is adjustable to accommodate molds of different sizes.

In the present manipulator 200 debugging apparatus, the mold 10 is placed on the plurality of supporting members 310 of the mold placing mechanism 300, and the driving module 220 drives the clamping member 210 to move the simulation manipulator 200 to run, so as to perform simulation debugging on each manipulator 200, and obtain the operable position parameters of each manipulator 200 for reference adjustment of the manipulator 200 of the actual carrying device, which is simple in operation, time-saving and labor-saving, and can reduce the cost expenditure.

In a preferred embodiment, referring to fig. 2 and 3, the driving module 220 includes a Z-axis linear module 221, a Y-axis linear module 222 connected to an output end of the Z-axis linear module 221, and an X-axis linear module 223 connected to an output end of the Y-axis linear module 222, wherein the output end of the X-axis linear module 223 is connected to the clamping member 210. The Z-axis linear module 221, the Y-axis linear module 222, the X-axis linear module 223 and the clamping member 210 are sequentially connected in the above order, the Z-axis linear module 221 can drive the Y-axis linear module 222, the X-axis linear module 223 and the clamping member 210 to linearly move along the Z-axis direction, the Y-axis linear module 222 can drive the X-axis linear module 223 and the clamping member 210 to linearly move along the Y-axis direction, and the X-axis linear module 223 can drive the clamping member 210 to linearly move along the X-axis direction.

Further, the X-axis linear module 223 includes an X-axis slide bar 1 and an X-axis slide plate 2 slidably engaged with the X-axis slide bar 1, and the holding member 210 is disposed on the X-axis slide plate 2. Specifically, the two X-axis sliding rods 1 are arranged side by side, two sliding sleeves are correspondingly arranged at the bottom of the X-axis sliding plate 2 to be respectively sleeved on the two X-axis sliding rods 1, and the clamping member 210 is fixedly connected with the X-axis sliding plate 2, so that the clamping member 210 can move in the X-axis direction.

Further, the Y-axis linear module 222 includes a Y-axis slide bar 3 and a Y-axis slide 4 slidably engaged with the Y-axis slide bar 3, and the X-axis linear module 223 is disposed on the Y-axis slide 4. Specifically, the Y-axis sliding rods 3 are two sliding sleeves arranged side by side, two sliding sleeves are correspondingly arranged at the bottom of the Y-axis sliding plate 4 to be respectively sleeved on the two Y-axis sliding rods 3, and the X-axis linear module 223 is installed on the Y-axis sliding plate 4, so that the movement of the clamping member 210 in the Y-axis direction can be realized. From the above, the X-axis linear module 223 and the Y-axis linear module 222 both adopt a slide bar and slide plate combination structure, and have simple structure, reliable operation and low cost.

Further, the Z-axis linear module 221 includes a mounting frame 5, a cylinder 6 disposed on the mounting frame 5, and a Z-axis moving plate 7 fixedly connected to a piston rod of the cylinder 6, and the Y-axis linear module 222 is disposed on the Z-axis moving plate 7. Specifically, the mounting frame 5 is a frame structure having a certain height, and is mounted and fixed on the machine table 100 by screws. The mounting bracket 5 comprises a transverse plate and two supporting vertical plates positioned below the transverse plate, the air cylinder 6 is mounted below the transverse plate, a piston rod of the air cylinder 6 penetrates out of the transverse plate from bottom to top and is fixedly connected with the Z-axis moving plate 7, and the Y-axis linear module 222 is mounted on the Z-axis moving plate 7, so that the clamping piece 210 can be moved in the Z-axis direction.

Furthermore, a plurality of guide holes are formed in the mounting frame 5, and guide rods 8 which penetrate through the guide holes and are used for guiding the Z-axis moving plate 7 are mounted on the Z-axis moving plate 7. Wherein, the guide holes are four arranged along the circumference of the cylinder 6, and the guide rods 8 are four correspondingly arranged. The guide rod 8 is arranged to guide the Z-axis moving plate 7, so that the operation stability of the clamping member 210 in the Z-axis direction is improved.

In a preferred embodiment, referring to fig. 4, the retainer 210 includes a plate 211 and two retaining plates 212 located at two sides of the plate 211, and the plate 211 and the two retaining plates 212 enclose a clamping space for clamping the workpiece 20. Specifically, in the retainer 210, the supporting plate 211 is horizontally disposed, the limiting plates 212 on both sides are vertically disposed, and one end of the workpiece 20 is limited by the limiting plates 212 to be mounted on the supporting plate 211, that is, located in the clamping space. The supporting plate 211 is provided with a through hole, the limiting plate 212 is correspondingly provided with a strip hole, and the supporting plate 211 and the limiting plate 212 are arranged in the strip hole and the through hole in a penetrating mode through screws to be connected. The supporting plate 211 and the limiting plate 212 are connected by screws, wherein the connecting position of the limiting plate 212 and the supporting plate 2111 can be adjusted by the through holes and the strip holes so as to adapt to workpieces with different widths.

In a preferred embodiment, referring to fig. 5, the mold placing mechanism 300 further comprises an X-axis slide rail 320 and a Y-axis slide rail 330, and the plurality of supports 310 are respectively disposed on the X-axis slide rail 320 and the Y-axis slide rail 330. Specifically, two sides of the bottom end of the supporting member 310 are provided with outward protruding blocks, the X-axis sliding rail 320 and the Y-axis sliding rail 330 include two sliding rails arranged in parallel, and sliding grooves matched with the protruding blocks to realize the movement of the supporting member 310 are arranged on the sliding rails. The X-axis slide rail 320 and the Y-axis slide rail 330 are two segments separately disposed, each segment is disposed with a support 310, the supports 310 on the two segments of X-axis slide rail 320 can move toward or away from each other along the X-axis direction, and the supports 310 on the two segments of Y-axis slide rail 330 can move toward or away from each other along the Y-axis direction. The embodiment adopts the slide rail to realize the movable arrangement of the support member 310, and has simple structure and convenient operation.

In a preferred embodiment, referring to fig. 5, the plurality of supporting members 310 are respectively provided with a clamping block 340 for clamping the mold 10. In this embodiment, the fixture blocks 340 are disposed corresponding to the slots at the bottom of the mold 10, and the plurality of supporting members 310 are clamped into the slots of the mold 10 by the fixture blocks 340 to mount the mold 10, so that the clamping is stable.

What just go up be the utility model discloses a part or preferred embodiment, no matter be characters or the drawing can not consequently restrict the utility model discloses the scope of protection, all with the utility model discloses a holistic thought down, utilize the equivalent structure transform that the contents of the description and the drawing do, or direct/indirect application all includes in other relevant technical field the utility model discloses the within range of protection.

Claims

1. The utility model provides a manipulator debugging device, its characterized in that is in including board, two relative settings manipulator on the board and being located two mould between the manipulator is placed the mechanism, the manipulator is including holding the piece and being used for the drive module that a piece removed is held to the card, two a piece orientation is respectively held to the card the mould is placed the mechanism, the mould is placed the mechanism and is included a plurality of movably settings on the board, be used for bearing the support piece of mould.

2. The manipulator debugging device of claim 1, wherein the driving module comprises a Z-axis linear module, a Y-axis linear module connected to an output execution end of the Z-axis linear module, and an X-axis linear module connected to an output execution end of the Y-axis linear module, and the output execution end of the X-axis linear module is connected to the chuck.

3. The manipulator debugging device of claim 2, wherein the X-axis linear module comprises an X-axis slide bar and an X-axis slide plate in sliding fit with the X-axis slide bar, and the retaining member is disposed on the X-axis slide plate.

4. The manipulator debugging device of claim 3, wherein the Y-axis linear module comprises a Y-axis slide bar and a Y-axis slide plate in sliding fit with the Y-axis slide bar, and the X-axis linear module is arranged on the Y-axis slide plate.

5. The manipulator debugging device of claim 4, wherein the Z-axis linear module comprises a mounting frame, a cylinder arranged on the mounting frame, and a Z-axis moving plate fixedly connected with a piston rod of the cylinder, and the Y-axis linear module is arranged on the Z-axis moving plate.

6. The manipulator debugging device of claim 5, wherein the mounting frame is provided with a plurality of guide holes, and the Z-axis moving plate is provided with guide rods which are arranged in the guide holes in a penetrating manner and used for guiding the Z-axis moving plate.

7. The manipulator debugging device of claim 1, wherein the clamping member comprises a supporting plate and limiting plates arranged on two sides of the supporting plate, and the supporting plate and the two limiting plates enclose a clamping space for clamping a workpiece.

8. The manipulator debugging device of claim 1, wherein the mold placement mechanism further comprises an X-axis slide and a Y-axis slide, and the plurality of supporting members are respectively disposed on the X-axis slide and the Y-axis slide.

9. The manipulator debugging device according to claim 1, wherein a plurality of the supporting members are respectively provided with a chucking block for chucking the mold.