A workpiece transfer robot

Abstract

The present invention discloses a workpiece transmission manipulator, comprising an X1-axis frame and a Y-axis frame, a servo motor 1 is fixedly provided on the top of one side of the X1-axis frame, the servo motor 1 is rotatably connected to the top of one side of the Z-axis beam through a connecting rod 1, a synchronous belt 1 is provided on the other side of the Z-axis beam, a servo motor 2 is fixedly provided on the top of the Z-axis beam, the bottom end of the X1-axis frame is fixedly connected to the top of the Y-axis frame, and a servo motor 3 is fixedly provided on one side of the top of the Y-axis frame; the beneficial effects of the present invention are as follows: by arranging servo motor 1, servo motor 2, servo motor 3 and servo motor 4, when working, servo motor 1, servo motor 2, servo motor 3 and servo motor 4 can drive a double-piece separation device to make an end picker perform a linear transmission motion, and the posture of the end picker for picking up and placing the workpiece is adjusted by servo motor 5 in the Z1-axis frame and servo motor 6 in the X3-axis frame.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a workpiece transmission manipulator, and belongs to the technical field of feeding manipulators. Background Art

[0002] The robot can imitate certain movements and functions of human hands and arms to grab, move objects or operate tools according to a fixed procedure. The existing workpiece transfer robot is fixed in the middle of adjacent columns in the form of a single arm, and is suspended between the columns. The workpiece is picked up and placed by a conveying device sliding on the single arm. This workpiece transfer robot is not flexible enough, which affects the feeding efficiency. Summary of the invention

[0003] The object of the present invention is to provide a workpiece transfer robot to solve the problem of insufficient flexibility of the existing workpiece transfer robot mentioned in the above background technology, which affects the feeding efficiency.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a workpiece transfer robot comprises an X1-axis frame and a Y-axis frame, a servo motor 1 is fixedly provided on the top of one side of the X1-axis frame, the servo motor 1 is rotatably connected to the top of one side of the Z-axis beam through a connecting rod 1, a synchronous belt 1 is provided on the other side of the Z-axis beam, a servo motor 2 is fixedly provided on the top of the Z-axis beam, the bottom end of the X1-axis frame is fixedly connected to the top of the Y-axis frame, a servo motor 3 is fixedly provided on one side of the top of the Y-axis frame, a synchronous belt 2 is provided on one side of the Y-axis frame, the servo motor 3 is transmission-connected to a slider 1 through the synchronous belt 2, one side of the slider 1 is slidably connected to the Z-axis beam, the servo motor 2 is slidably connected to the slider 2 through the synchronous belt 1, a Z-axis rotation mechanism is provided on the bottom of one side of the slider 2 through the X-axis rotation mechanism, and the bottom end of the Z-axis rotation mechanism is rotatably connected to a double-piece separation device through a servo motor 6.

[0005] As a preferred technical solution of the present invention, the X-axis rotation mechanism includes connecting rod 2, servo motor 4 and servo motor 5. One side of the connecting rod 2 is fixedly connected to the bottom of one side of the slider 2. The other side of the connecting rod 2 is provided with servo motor 4. The bottom end of the connecting rod 2 is rotatably connected to the top end of the Z-axis rotation mechanism through servo motor 5.

[0006] As a preferred technical solution of the present invention, the Z-axis rotation mechanism includes a Z1-axis base, an X3-axis base and a servo motor six. The top of the Z1-axis base is rotatably connected to the bottom end of the X-axis rotation mechanism. The bottom end of the Z1-axis base is fixedly provided with an X3-axis base. The bottom end of the X3-axis base is rotatably connected to the two-piece separation device through a servo motor six.

[0007] As a preferred technical solution of the present invention, a ball screw is provided at one end of the two-piece separation device, and a servo motor seven is provided at one end of the ball screw.

[0008] As a preferred technical solution of the present invention, the bottom end of the two-piece separation device is snap-connected with the end picker.

[0009] As a preferred technical solution of the present invention, support rods are fixedly provided in the middle of both sides of the X1-axis frame, and the bottom ends of the two support rods are fixedly connected to the top end of the Y-axis frame.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting servo motor 1, servo motor 2, servo motor 3 and servo motor 4, when working, servo motor 1, servo motor 2, servo motor 3 and servo motor 4 can drive the double-piece separation device to make the end picker perform linear transmission motion, and the servo motor 5 in the Z1-axis machine base and the servo motor 6 in the X3-axis machine base adjust the posture of the end picker for picking up and placing the workpiece, so that it can be applied to the stamping field to realize the workpiece transportation between multiple presses; when making two pieces in one mold, the servo motor 7 at the end of the double-piece separation device can adjust the position of the end picker for picking up and placing the workpiece, and the motion trajectory is controlled by the servo system, and virtual debugging is used as simulation to achieve the optimal motion curve. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the present invention;

[0012] Figure 2 It is an exploded view of the present invention.

[0013] In the figure: 1. servo motor one; 2. X1 axis frame; 3. connecting rod one; 4. Z axis beam; 5. servo motor two; 6. synchronous belt one; 7. servo motor three; 8. Y axis frame; 9. synchronous belt two; 10. slider one; 11. slider two; 12. connecting rod two; 13. servo motor four; 14. servo motor five; 15. Z1 axis base; 16. X3 axis base; 17. servo motor six; 18. double-piece separation device; 19. ball screw; 20. servo motor seven; 21. end picker. DETAILED DESCRIPTION

[0014] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0015] See also Figure 1-2The present invention provides a workpiece transmission robot, including an X1-axis frame 2 and a Y-axis frame 8. A servo motor 1 is fixedly provided on the top of one side of the X1-axis frame 2. The servo motor 1 is rotatably connected to the top of one side of the Z-axis beam 4 through a connecting rod 3. A synchronous belt 6 is provided on the other side of the Z-axis beam 4. A servo motor 2 5 is fixedly provided on the top of the Z-axis beam 4. The bottom end of the X1-axis frame 2 is fixedly connected to the top of the Y-axis frame 8. A servo motor 3 7 is fixedly provided on one side of the top of the Y-axis frame 8. A synchronous belt 2 9 is provided on one side of the Y-axis frame 8. The servo motor 3 7 is transmission-connected to a slider 10 through the synchronous belt 2 9. One side of the slider 10 is slidably connected to the Z-axis beam 4. The servo motor 2 5 is slidably connected to the slider 2 11 through the synchronous belt 6. A Z-axis rotation mechanism is provided at the bottom of one side of the slider 2 11 through the X-axis rotation mechanism. The bottom end of the Z-axis rotation mechanism is rotatably connected to a double-piece separation device 18 through a servo motor 6 17.

[0016] Preferably, the X-axis rotation mechanism includes a connecting rod 2 12, a servo motor 4 13 and a servo motor 5 14, one side of the connecting rod 2 12 is fixedly connected to the bottom of one side of the slider 2 11, and the other side of the connecting rod 2 12 is provided with a servo motor 4 13, and the bottom end of the connecting rod 2 12 is rotatably connected to the top end of the Z-axis rotation mechanism through the servo motor 5 14, and the servo motor 4 13 can drive the connecting rod 2 12 to rotate along the X-axis direction; the Z-axis rotation mechanism includes a Z1-axis base 15, an X3-axis base 16 and a servo motor 6 17, the top end of the Z1-axis base 15 is rotatably connected to the bottom end of the X-axis rotation mechanism, and the bottom end of the Z1-axis base 15 is fixedly provided with an X3-axis base 16, and the X3-axis base 16 The bottom end is rotatably connected with the two-piece separation device 18 through a servo motor six 17, and the servo motor six 17 can drive the two-piece separation device 18 to rotate along the X3 axis direction; a ball screw 19 is provided at one end of the two-piece separation device 18, and a servo motor seven 20 is provided at one end of the ball screw 19; the end picker 21 can be driven to move horizontally along the X3 axis direction through the ball screw 19; the bottom end of the two-piece separation device 18 is engaged with the end picker 21, which is convenient for installing and disassembling the end picker 21; support rods are fixedly provided in the middle of both sides of the X1-axis frame 2, and the bottom ends of the two support rods are fixedly connected to the top of the Y-axis frame 8, thereby improving the firmness between the X1-axis frame 2 and the Y-axis frame 8.

[0017] During specific use, the present invention is a workpiece transfer robot. When the present invention is used, the end picker 21 is connected to the double-piece separation device 18, and the parts are picked up and placed by the end picker 21. When the end picker 21 needs to perform a linear transmission motion, the double-piece separation device 18 can be driven by servo motor 1, servo motor 2, servo motor 3, 7 and servo motor 4, so that the end picker 21 performs a linear transmission motion. When the posture of the end picker 21 for picking up and placing the workpiece needs to be adjusted, the posture of the end picker 21 for picking up and placing the workpiece can be adjusted by servo motor 5 14 of the Z1-axis machine base 15 and servo motor 6 17 in the X3-axis machine base 16. When making two pieces in one mold, the position of the end picker 21 for picking up and placing the workpiece can be adjusted by servo motor 7 20 at the end of the double-piece separation device 18. The motion trajectory is controlled by the servo system, and virtual debugging is used as a simulation to achieve the optimal motion curve.

[0018] In the description of the present invention, it is necessary to understand that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0019] In the present invention, unless otherwise clearly stipulated and limited, for example, it can be a fixed connection, a detachable connection, or an integrated one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0020] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A workpiece transfer robot, comprising an X1-axis frame (2) and a Y-axis frame (8), characterized in that: A servo motor 1 (1) is fixedly provided on the top of one side of the X1-axis frame (2); the servo motor 1 (1) is rotatably connected to the top of one side of the Z-axis beam (4) via a connecting rod 1 (3); a synchronous belt 1 (6) is provided on the other side of the Z-axis beam (4); a servo motor 2 (5) is fixedly provided on the top of the Z-axis beam (4); the bottom end of the X1-axis frame (2) is fixedly connected to the top of the Y-axis frame (8); a servo motor 3 (7) is fixedly provided on one side of the top of the Y-axis frame (8); and the Y-axis frame A synchronous belt 2 (9) is provided on one side of (8), the servo motor 3 (7) is connected to the slider 1 (10) through the synchronous belt 2 (9), one side of the slider 1 (10) is slidably connected to the Z-axis beam (4), the servo motor 2 (5) is slidably connected to the slider 2 (11) through the synchronous belt 1 (6), a Z-axis rotating mechanism is provided at the bottom of one side of the slider 2 (11) through the X-axis rotating mechanism, and the bottom end of the Z-axis rotating mechanism is rotatably connected to the double-piece separation device (18) through the servo motor 6 (17); The X-axis rotation 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 to the bottom of one side of the second slider (11); the other side of the second connecting rod (12) is provided with a fourth servo motor (13); the bottom end of the second connecting rod (12) is rotationally connected to the top end of the Z-axis rotation mechanism via the fifth servo motor (14); The Z-axis rotation mechanism comprises a Z1-axis machine base (15), an X3-axis machine base (16) and a servo motor (17); the top end of the Z1-axis machine base (15) is rotationally connected to the bottom end of the X-axis rotation mechanism; the bottom end of the Z1-axis machine base (15) is fixedly provided with an X3-axis machine base (16); the bottom end of the X3-axis machine base (16) is rotationally connected to a double-piece separation device (18) via a servo motor (17); A ball screw (19) is provided at one end of the two-piece separation device (18), and a servo motor (20) is provided at one end of the ball screw (19).

2. A workpiece transfer robot according to claim 1, characterized in that: The bottom end of the two-piece separation device (18) is snap-connected to the end picker (21).

3. A workpiece transfer robot according to claim 1, characterized in that: Support rods are fixedly provided in the middle of both sides of the X1-axis frame (2), and the bottom ends of the two support rods are fixedly connected to the top end of the Y-axis frame (8).

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