CN212312075U

CN212312075U - Workpiece conveying manipulator

Info

Publication number: CN212312075U
Application number: CN202021446407.4U
Authority: CN
Inventors: 张冠军; 潘凌; 李阳; 沈扬; 石磊; 杨建军; 王刚; 胡志达; 李超
Original assignee: Jiangsu Yawei Machine Tool Co Ltd
Current assignee: Jiangsu Yawei Machine Tool Co Ltd
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-01-08
Anticipated expiration: 2030-07-21

Abstract

The utility model discloses a workpiece conveying manipulator, which comprises an X1 shaft rack and a Y shaft rack, wherein a first servo motor is fixedly arranged at the top of one side of the X1 shaft rack, the first servo motor is rotationally connected with the top of one side of a Z shaft girder through a first connecting rod, a first synchronous belt is arranged at the other side of the Z shaft girder, a second servo motor is fixedly arranged at the top of the Z shaft girder, the bottom end of the X1 shaft rack is fixedly connected with the top end of the Y shaft rack, and a third servo motor is fixedly arranged at one side of the top end of the Y shaft rack; the utility model has the advantages that: through the arrangement of the first servo motor, the second servo motor, the third servo motor and the fourth servo motor, when the machine works, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor can drive the double-piece separating device to enable the end effector to make linear transmission motion, and the posture of taking and placing a workpiece by the end effector is adjusted by the fifth servo motor in the Z1 shaft machine base and the sixth servo motor in the X3 shaft machine base.

Description

Workpiece conveying manipulator

Technical Field

The utility model relates to a manipulator, in particular to work piece transmission manipulator belongs to feeding manipulator technical field.

Background

The manipulator can imitate certain action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a workpiece transmission manipulator to the flexibility of the current workpiece transmission manipulator who proposes in solving above-mentioned background art is not enough, influences the problem of pay-off efficiency.

In order to achieve the above object, the utility model provides a following technical scheme: a workpiece transmission manipulator comprises an X1 shaft rack and a Y shaft rack, wherein a first servo motor is fixedly arranged at the top of one side of the X1 shaft rack, the first servo motor is rotationally connected with the top of one side of the Z-axis girder through a first connecting rod, the other side of the Z-axis girder is provided with a first synchronous belt, the top of the Z-axis girder is fixedly provided with a servo motor II, the bottom end of the X1-axis frame is fixedly connected with the top end of the Y-axis frame, a servo motor III is fixedly arranged on one side of the top end of the Y-axis frame, a synchronous belt II is arranged on one side of the Y-axis frame, the servo motor III is in transmission connection with the sliding block through the synchronous belt II, one side of the sliding block I is in sliding connection with the Z-axis crossbeam, the servo motor II is connected with the sliding block II in a sliding way through a synchronous belt I, the bottom of one side of the sliding block II is provided with a Z-axis rotating mechanism through an X-axis rotating mechanism, and the bottom end of the Z-axis rotating mechanism is rotatably connected with the double-piece separating device through a servo motor six.

As an optimal technical scheme of the utility model, X axle rotation mechanism includes connecting rod two, servo motor four and servo motor five, the bottom fixed connection of one side of connecting rod two and two one sides of slider, the opposite side of connecting rod two is equipped with servo motor four, the bottom of connecting rod two is passed through servo motor five and is connected with the top rotation of Z axle rotation mechanism.

As an optimal technical scheme of the utility model, Z axle rotation mechanism includes that Z1 axle frame, X3 axle frame and servo motor are six, the top of Z1 axle frame is rotated with the bottom of X axle rotation mechanism and is connected, the bottom mounting of Z1 axle frame is equipped with X3 axle frame, the bottom of X3 axle frame is passed through servo motor six and is connected with two separator rotation.

As an optimal technical scheme of the utility model, two separator's one end is equipped with ball screw, ball screw's one end is equipped with servo motor seven.

As an optimized technical solution of the present invention, the bottom end of the two-piece separating device is connected to the end effector.

As an optimal technical scheme of the utility model, the middle part of X1 axle frame both sides is all fixed and is equipped with the bracing piece, two the bottom of bracing piece all with the top fixed connection of Y axle frame.

Compared with the prior art, the beneficial effects of the utility model are that: by arranging the first servo motor, the second servo motor, the third servo motor and the fourth servo motor, when the machine works, the first servo motor, the second servo motor, the third servo motor and the fourth servo motor can drive the double-piece separating device to enable the end effector to do linear transmission motion, and the posture of the end effector for taking and placing a workpiece is adjusted by the fifth servo motor in the Z1 shaft machine base and the sixth servo motor in the X3 shaft machine base, so that the machine can be applied to the field of stamping to realize workpiece conveying among a plurality of press machines; when one mold is used for double parts, the servo motor seven at the tail end of the double-part separating device can adjust the position of the end picking device for picking and placing the workpiece, the motion track is controlled by a servo system, and virtual debugging is used as simulation, so that the optimal motion curve is realized.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is an exploded view of the present invention.

In the figure: 1. a first servo motor; 2. an X1 axis gantry; 3. a first connecting rod; 4. a Z-axis girder; 5. a servo motor II; 6. a first synchronous belt; 7. a servo motor III; 8. a Y-axis frame; 9. a second synchronous belt; 10. a first sliding block; 11. a second sliding block; 12. a second connecting rod; 13. a servo motor IV; 14. a servo motor V; 15. a Z1 axle housing; 16. an X3 axle housing; 17. a servo motor six; 18. a two-piece separation device; 19. a ball screw; 20. a servo motor seven; 21. an end effector.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a workpiece conveying robot, including an X1 shaft frame 2 and a Y shaft frame 8, a first servo motor 1 is fixedly disposed on a top of one side of the X1 shaft frame 2, the first servo motor 1 is rotatably connected to a top of one side of a Z shaft girder 4 through a first connecting rod 3, a first synchronous belt 6 is disposed on the other side of the Z shaft girder 4, a second servo motor 5 is fixedly disposed on a top of the Z shaft girder 4, a bottom end of the X1 shaft frame 2 is fixedly connected to a top end of the Y shaft frame 8, a third servo motor 7 is fixedly disposed on one side of a top end of the Y shaft frame 8, a second synchronous belt 9 is disposed on one side of the Y shaft frame 8, the third servo motor 7 is drivingly connected to a first slide block 10 through the second synchronous belt 9, one side of the first slide block 10 is slidably connected to the Z shaft girder 4, the second servo motor 5 is slidably connected to a second slide block 11 through the first synchronous belt 6, a Z shaft rotating, the bottom end of the Z-axis rotating mechanism is rotatably connected with a double-piece separating device 18 through a servo motor six 17.

Preferably, the X-axis rotating mechanism comprises a second connecting rod 12, a fourth servo motor 13 and a fifth servo motor 14, one side of the second connecting rod 12 is fixedly connected with the bottom of one side of the second sliding block 11, the other side of the second connecting rod 12 is provided with the fourth servo motor 13, the bottom end of the second connecting rod 12 is rotatably connected with the top end of the Z-axis rotating mechanism through the fifth servo motor 14, and the fourth servo motor 13 can drive the second connecting rod 12 to rotate along the X-axis direction; the Z-axis rotating mechanism comprises a Z1 axis machine base 15, an X3 axis machine base 16 and a servo motor six 17, the top end of the Z1 axis machine base 15 is rotatably connected with the bottom end of the X-axis rotating mechanism, the bottom end of the Z1 axis machine base 15 is fixedly provided with the X3 axis machine base 16, the bottom end of the X3 axis machine base 16 is rotatably connected with the double-piece separating device 18 through the servo motor six 17, and the servo motor six 17 can drive the double-piece separating device 18 to rotate along the X3 axis direction; one end of the double-piece separating device 18 is provided with a ball screw 19, and one end of the ball screw 19 is provided with a servo motor seven 20; the end effector 21 can be driven to move horizontally along the X3 axis direction by the ball screw 19; the bottom end of the double-piece separating device 18 is connected with the end picking device 21 in a clamping manner, so that the end picking device 21 can be conveniently mounted and dismounted; the middle parts of the two sides of the X1 shaft rack 2 are fixedly provided with supporting rods, the bottom ends of the two supporting rods are fixedly connected with the top end of the Y shaft rack 8, and the firmness between the X1 shaft rack 2 and the Y shaft rack 8 is improved.

When in specific use, the workpiece transmission manipulator of the utility model is used, the end picking device 21 is connected with the double-piece separating device 18, when the end picking device 21 is used for picking and placing parts and the end picking device 21 needs to make linear transmission motion, the double-piece separating device 18 can be driven by the servo motor I1, the servo motor II 5, the servo motor III 7 and the servo motor IV 13, so that the end effector 21 makes linear transmission motion, when the gesture of taking and placing the workpiece by the end effector 21 needs to be adjusted, the position of the end effector 21 for picking and placing the workpiece can be adjusted by the servo motor five 14 of the Z1 shaft base 15 and the servo motor six 17 in the X3 shaft base 16, when the workpiece is made into a die and a double piece, the servo motor seven 20 at the tail end of the double-piece separating device 18 can adjust the position of the end effector 21 for picking and placing the workpiece, the motion track is controlled by a servo system, virtual debugging is used as simulation, and the optimal motion curve can be realized.

In the description of the present invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a workpiece transmission manipulator, includes X1 axle frame (2) and Y axle frame (8), its characterized in that, the fixed servo motor (1) that is equipped with in top of X1 axle frame (2) one side, servo motor (1) is rotated through connecting rod (3) and the top of Z axle girder (4) one side and is connected, the opposite side of Z axle girder (4) is equipped with hold-in range (6), the fixed servo motor two (5) that is equipped with in top of Z axle girder (4), the bottom of X1 axle frame (2) and the top fixed connection of Y axle frame (8), one side on Y axle frame (8) top is fixed and is equipped with servo motor three (7), one side of Y axle frame (8) is equipped with hold-in range two (9), servo motor three (7) are connected with slider one (10) transmission through hold-in range two (9), one side and Z axle sliding connection of slider girder (10), the second servo motor (5) is connected with the second sliding block (11) in a sliding mode through a first synchronous belt (6), a Z-axis rotating mechanism is arranged at the bottom of one side of the second sliding block (11) through an X-axis rotating mechanism, and the bottom end of the Z-axis rotating mechanism is connected with the double-piece separating device (18) in a rotating mode through a sixth servo motor (17).

2. A workpiece transfer robot as recited in claim 1, wherein: the X-axis rotating mechanism comprises a second connecting rod (12), a fourth servo motor (13) and a fifth servo motor (14), one side of the second connecting rod (12) is fixedly connected with the bottom of one side of the second sliding block (11), the fourth servo motor (13) is arranged on the other side of the second connecting rod (12), and the bottom end of the second connecting rod (12) is rotatably connected with the top end of the Z-axis rotating mechanism through the fifth servo motor (14).

3. A workpiece transfer robot as recited in claim 1, wherein: the Z-axis rotating mechanism comprises a Z1 axis machine base (15), an X3 axis machine base (16) and a servo motor six (17), the top end of the Z1 axis machine base (15) is rotatably connected with the bottom end of the X-axis rotating mechanism, the X3 axis machine base (16) is fixedly arranged at the bottom end of the Z1 axis machine base (15), and the bottom end of the X3 axis machine base (16) is rotatably connected with the double-piece separating device (18) through the servo motor six (17).

4. A workpiece transfer robot as recited in claim 1, wherein: one end of the double-piece separating device (18) is provided with a ball screw (19), and one end of the ball screw (19) is provided with a servo motor seven (20).

5. A workpiece transfer robot as recited in claim 1, wherein: the bottom end of the double-piece separating device (18) is connected with an end picking device (21) in a clamping mode.

6. A workpiece transfer robot as recited in claim 1, wherein: the middle parts of the two sides of the X1 shaft rack (2) are fixedly provided with supporting rods, and the bottom ends of the supporting rods are fixedly connected with the top end of the Y shaft rack (8).