A moving assembly for a planar robot, a robot and a stamping line

Abstract

The application relates to the technical field of automatic mechanical hands, and discloses a moving assembly for a plane mechanical hand, the mechanical hand and a stamping assembly line, wherein the moving assembly comprises a fixed plate, a moving assembly and a driving assembly; the middle of the fixed plate is concave, and the two sides are convex to form a first groove; the moving assembly comprises a moving plate provided with a first surface and a second surface; a plurality of first rolling assemblies are arranged between the first surface and the bottom surface of the first groove; and the convex surfaces of the two sides of the fixed plate are provided with a plurality of second rolling assemblies in contact with the second surface. The moving plate is supported by the first rolling assemblies, and the direct contact between the fixed plate and the moving plate is replaced; the second rolling assemblies guide the moving plate and are used for realizing the guiding contact of the moving plate; compared with the existing sliding contact, the friction of the rolling contact is smaller than that of the sliding contact, so that the moving speed of the moving plate assembly can be improved, and the working efficiency can be improved.

Description

Technical Field

[0001] This invention relates to the field of automated robotic arm technology, and specifically discloses a moving component for a planar robotic arm, a robotic arm, and a stamping production line. Background Technology

[0002] A stamped product requires multiple stamping processes to transform a sheet metal into a finished stamped product. Robotic arms are used to move products between adjacent stamping machines. With the widespread application of robotic arms, the demands for their efficiency and precision are constantly increasing. In existing technology, the common transmission mechanism for the handling components of robotic arms is a linear motor drive with a slider guide rail. The linear motor provides strong driving force, and the slider guide rail provides high-precision guidance. However, the guiding structure of the slider guide rail limits the stroke of the robotic arm. Because the slider and the guide rail are inseparable, the guide rail can only serve as a fixed end; a long guide rail results in a long stroke for the robotic arm, and a short guide rail results in a short stroke for the robotic arm.

[0003] Chinese patent document CN208374041U discloses a robotic arm and a stamping production line for a stamping assembly line, including a linear guide rail, a linear motor, and a lifting robotic arm. The linear guide rail is fixed to one side of the stamping assembly line, and the linear motor drives the lifting robotic arm to reciprocate horizontally along the linear guide rail. Referring to the accompanying drawings, we can see that the length of the linear guide rail determines the stroke of the lifting robotic arm, and the contact method used is sliding contact. Sliding contact has relatively high resistance, making it difficult to achieve high-speed operation. Summary of the Invention

[0004] To overcome the problem of slow movement speed of moving components in existing robotic arms, this invention provides a moving component for planar robotic arms that can operate at high speed.

[0005] The first objective of this invention is to provide a moving component for a planar robotic arm, comprising:

[0006] A fixing plate is used for guidance, and the fixing plate has a concave center and convex sides to form a first groove.

[0007] A movable component is disposed in the first groove and moves along the first groove. The movable component includes a movable plate, which has a first surface and a second surface.

[0008] The first surface is disposed opposite to the bottom surface of the first groove, and a plurality of first rolling components are provided between the first surface and the bottom surface of the first groove, wherein the rolling surface of the first rolling component is in rolling contact with the first surface.

[0009] The two sides of the fixed plate are provided with a plurality of second rolling components, and the rolling surface of the second rolling components makes rolling contact with the second surface.

[0010] A driving component is disposed between the fixed plate and the moving component, and drives the moving component to move along the fixed plate.

[0011] Optionally, the front of the movable plate is provided with two symmetrical first protrusions, and the surface of the first protrusions is the first surface;

[0012] The reverse side of the movable plate is provided with two symmetrical second protrusions, the second protrusions are connected to the guide rail, and the contact surface between the guide rail and the second rolling component is the second surface.

[0013] Optionally, the cross-section of the second surface is convex; the second rolling component includes a roller, the surface of which is provided with a second groove, the second groove being the rolling surface of the second rolling component, the cross-section of the second groove being adapted to the cross-section of the second surface, and the moving component driving the roller to rotate when it moves along the fixed plate.

[0014] Optionally, the first rolling assembly includes a stop screw and a bearing. The stop screw connects the bearing to a protrusion on the fixed plate. The rolling surface of the bearing makes rolling contact with the first surface. When the moving assembly moves along the fixed plate, it drives the bearing to rotate.

[0015] Optionally, it also includes a nut, wherein the screw passes through the bearing and through a protrusion of the fixing plate, and the nut is fitted onto the tail of the screw.

[0016] Optionally, the movable plate may extend beyond the first and last ends of the fixed plate, and each end of the movable plate is connected to an end sensor.

[0017] Optionally, the driving component is a linear motor, including a stator and a mover, wherein the stator is disposed in the first groove and is fixedly connected to the fixing plate;

[0018] The moving element is fixedly connected to the moving plate, and the stator generates a driving force to drive the moving element to move the moving plate.

[0019] The first rolling component supports the moving plate, such that the moving element and the stator are set at a predetermined distance.

[0020] Optionally, it also includes a positioning component, which includes a grating ruler disposed on the outer side of the first groove, a guide mechanism fixedly connected to the fixed plate, a connecting plate connecting the guide mechanism and the moving component, and a first sensor fixedly connected to the connecting plate; the moving component drives the first sensor on the connecting plate to move along the guide mechanism, and the guide mechanism is arranged parallel to the fixed plate;

[0021] It also includes a second sensor, which is respectively disposed at both ends of the fixed plate, for sensing the moving component.

[0022] A second objective of the present invention is to provide a robotic arm, including the aforementioned moving component for a planar robotic arm, and further including a frame, an end effector, a z-axis moving component, and a transfer station;

[0023] The frame is fixedly connected to the moving component for the planar manipulator, the moving component for the planar manipulator is fixedly connected to the z-direction moving component, and the end effector is fixedly connected to the moving component for the planar manipulator.

[0024] The moving component for the planar manipulator drives the end effector to move along the x or -x direction, and the moving component in the z direction drives the moving component for the planar manipulator to move along the z or -z direction.

[0025] A third objective of the present invention is to provide a stamping production line, characterized in that it includes the aforementioned robotic arm.

[0026] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0027] This invention provides a plurality of first and second rolling components between a fixed plate and a moving plate used for guidance. The first rolling components support the moving plate, replacing the direct contact between the fixed plate and the moving plate. The second rolling components guide the moving plate, enabling guiding contact. Compared to existing sliding contact, the friction of rolling contact is less than that of sliding contact, thus increasing the running speed of the moving plate assembly and improving work efficiency.

[0028] Figure Labels

[0029] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0030] Figure 1 This is a three-dimensional embodiment of the moving component of the present invention for a planar robotic arm. Figure 1 ;

[0031] Figure 2 This is a three-dimensional embodiment of the moving component of the present invention for a planar robotic arm. Figure 2 ;

[0032] Figure 3 This is a three-dimensional embodiment of the moving component of the present invention for a planar robotic arm. Figure 3 ;

[0033] Figure 4 This is a partial enlargement of an embodiment of the moving component of the planar manipulator of the present invention. Figure 1 ;

[0034] Figure 5 This is a partial enlargement of an embodiment of the moving component of the planar manipulator of the present invention. Figure 2 ;

[0035] Figure 6 This is a cross-sectional view of an embodiment of the moving component of a planar manipulator according to the present invention;

[0036] Figure 7 This is a perspective view of an embodiment of the robotic arm of the present invention;

[0037] Figure 8 This is a partial enlarged view of an embodiment of the robotic arm end effector of the present invention;

[0038] Figure 9 A three-dimensional embodiment of the robotic end effector of the present invention. Figure 1 ;

[0039] Figure 10 A three-dimensional embodiment of the robotic end effector of the present invention. Figure 2 ;

[0040] Figure 11 This is a partial view of the transmission component of an embodiment of the robot arm's z-direction movement component of the present invention;

[0041] Figure 12 A cross-sectional view of an embodiment of the robot arm's z-direction movement component of the present invention. Figure 1 ;

[0042] Figure 13 A cross-sectional view of an embodiment of the robot arm's z-direction movement component of the present invention. Figure 2 ;

[0043] Figure 14 This is a front view of an embodiment of the robotic arm's z-direction movement component of the present invention;

[0044] Figure 15 This is a front view of an embodiment of the robotic arm's z-direction movement component of the present invention;

[0045] Figure 16This is a front view of an embodiment of the robotic oil filtration transfer platform of the present invention;

[0046] Figure 17 This is a top view of an embodiment of the robotic oil filtration transfer platform of the present invention;

[0047] Figure 18 This is a partially enlarged view of the limiting component in an embodiment of the robotic oil filtration transfer platform of the present invention;

[0048] Figure 19 This is a perspective view of an embodiment of the robotic oil filtration transfer platform of the present invention.

[0049] 1-Fixed plate; 11-First groove; 2-Moving assembly; 21-Moving plate; 211-First surface; 212-Second surface; 22-First boss; 23-Second boss; 24-Guide rail; 25-Gas distribution block; 26-Vacuum generator; 3-First rolling assembly; 31-Plug screw; 32-Bearing; 33-Nut; 4-Second rolling assembly; 41-Roller; 411-Second groove; 5-Drive assembly; 51-Stator; 52-Movers; 6-Blocking part; 7-Positioning assembly; 71-Grammeter ruler; 72-Guide mechanism; 73-Connecting plate; 74-First sensor; 8-Second sensor; 9-Progressive distributor; 91-First cable chain plate; 92-Cable chain; 93-Second cable chain plate; 10-Robot arm; 20-X-direction moving assembly; 30-Frame; 40-End effector; 50-Z-direction moving assembly; 60-Transfer platform;

[0050] 401-Quick-release base; 4011-Connecting part; 4012-Mounting part; 4013-First channel; 4014-Notch; 4015-Second channel; 402-Grip assembly; 4021-Suction cup; 4022-First cantilever; 4023-Second cantilever; 4024-First sliding groove hole; 4025-Second sliding groove hole; 4026-Suction cup column; 403-Positioning column; 404-Fixing column; 4041-First column; 4042-Second column; 4043-Third column; 405-L-shaped plate; 406-Sensor;

[0051] 3011-Cavity; 3012-Fixed Block; 502-Drive Assembly; 5021-Coupling; 503-Transmission Assembly; 5031-Lead Screw; 5032-Bearing Collar; 5033-Moving Table; 5034-Clamping Block; 504-Moving Assembly; 505-Balancing Assembly; 5051-Floating Joint; 506-Oil Collection Assembly; 5061-Oil Baffle; 5062-Oil Collection Box; 5063-Baffle; 5064-Bottom Surface; 5065-Oil Outlet; 5066-Oil Collection Bucket; 507-Control Assembly;

[0052] 601-Bearing plate; 6011-Oil collection groove; 6012-Inner ring; 6013-Outer ring; 6014-Oil outlet hole; 6015-Positioning pin; 602-Oil filter plate; 6021-Oil filter hole; 6022-Guide groove; 6023-Positioning hole; 603-Limiting component; 6031-Upper limit part; 6032-Lower limit part; 6033-Guide part; 6034-Fixing part; 604-Fixing block. Detailed Implementation

[0053] To facilitate understanding of the present invention, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected to" another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only. In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or implying the number of indicated technical features. Thus, unless otherwise stated, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; "multiple" means two or more. The term "comprising" and any variations thereof mean non-exclusive inclusion, where one or more other features, integers, steps, operations, units, components, and / or combinations thereof may be present or added.

[0054] Furthermore, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium, or as a connection within two components. All technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0055] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] Figure 1-6 This is a schematic diagram of an embodiment of a moving component for a planar robotic arm according to the present invention.

[0057] Please refer to Figure 1-6 The mobile component embodiment provided by the present invention is used for the movement of the end-effector of a planar robot in the x or -x direction.

[0058] This embodiment specifically includes: a fixed plate 1, a moving component 2, a first rolling component 3, a second rolling component 4, and a driving component 5.

[0059] The fixed plate 1 serves as a guide, with a concave center and convex sides forming a first groove 11. A movable component 2 is disposed within the first groove 11 and moves along it. The movable component 2 includes a movable plate 21, which has a first surface 211 and a second surface 212. The first surface 211 is positioned opposite the bottom surface of the first groove 11, and multiple first rolling components 3 are disposed between the first surface 211 and the bottom surface of the first groove 11, with the rolling surfaces of the first rolling components 3 making rolling contact with the first surface 211. Multiple second rolling components 4 are disposed on the convex surfaces on both sides of the fixed plate 1, with the rolling surfaces of the second rolling components 4 making rolling contact with the second surface 212. A driving component 5 is disposed between the fixed plate 1 and the movable component 2, driving the movable component 2 to move along the fixed plate 1.

[0060] Specifically, in this embodiment, the fixing plate 1 is used to support other components. The fixing plate 1 is long and narrow with a C-shaped cross-section. One side of the fixing plate 1 is a plane that is connected to the z-direction moving component, and the other side is a first groove 11.

[0061] The first surface 211 and the second surface 212 of the movable plate 21 are perpendicular to each other. The first surface 211 is parallel to the bottom surface of the first groove 11 and perpendicular to the inner wall of the first groove 11. A plurality of first rolling components 3 for supporting the movable assembly 2 are provided between the first surface 211 and the bottom surface of the first groove 11. The first rolling components 3 are evenly distributed on both sides of the first groove 11, and adjacent first rolling components 3 do not contact each other, having a very small gap. The rolling surface of the first rolling component 3 makes rolling contact with the first surface 211. Specifically, this rolling contact is a point contact, and the rolling friction reduces the frictional force generated when the rolling surface of the first rolling component 3 moves relative to the first surface 211. Further, the first rolling components 3 are arranged symmetrically in two rows, and the supporting force acts on the upper and lower ends of the movable plate 21. The direction of the supporting force is opposite to the direction of the force exerted by the driving component 5 to press the movable plate 21 against the first rolling components 3, that is, the movable plate 21 is balanced in the y-direction and does not produce displacement.

[0062] The top surfaces of the two protruding sides of the fixed plate 1 are provided with a plurality of second rolling components 4 for guiding the moving component 2. The plurality of second rolling components 4 are arranged at intervals, and the rolling surfaces of the second rolling components 4 are in rolling contact with the second surface 212. Specifically, this rolling contact is a surface contact, and the contact surface is smooth combined with rolling friction, thus reducing friction. Furthermore, the second rolling components 4 are arranged symmetrically in two rows, and the upper and lower rows of second rolling components 4 restrict the vertical movement of the moving plate 21, that is, the moving plate 21 is in force balance in the z direction and does not produce displacement.

[0063] The movable plate 21 is in force balance in the y-direction and does not produce displacement. It is also in force balance in the z-direction and does not produce displacement. It can only move in the x-direction via the drive assembly 5. Furthermore, the contact method during the movement of the movable plate 21 is rolling friction contact, which significantly reduces friction and increases movement speed compared to sliding friction contact.

[0064] In one embodiment, the moving assembly 2 further includes gas distribution blocks 25 and vacuum generators 26. The gas distribution blocks 25 are symmetrically arranged on the moving plate 21 for gas diversion. Each hole in the gas distribution block 25 is connected to a corresponding suction cup in the end effector 40, allowing for individual control of the air intake and exhaust of each suction cup. The vacuum generators 26 are symmetrically arranged on the moving plate 21 to generate negative pressure, providing a vacuum state when the suction cups grip materials or breaking the vacuum state when releasing materials. Specifically, there are two gas distribution blocks 25 and four vacuum generators 26.

[0065] In one embodiment, the front side of the movable plate 21 is provided with two symmetrical first protrusions 22, and the surface of the first protrusions 22 is the first surface 211. The back side of the movable plate 21 is provided with two symmetrical second protrusions 23, and a guide rail 24 is fixedly provided on the upper surface of the second protrusions 23. The contact surface between the guide rail 24 and the second rolling assembly 4 is the second surface 212.

[0066] Specifically, the front of the movable plate 21 is the surface opposite to the bottom surface of the first groove 11, and the first boss 22 and the movable plate 21 can be separate or integral. The second surface 212 is the side of the guide rail 24, and the guide rail 24 and the second boss 23 are fixedly connected by multiple screws.

[0067] The structure of the first boss 22 and the second boss 23 allows the first surface 211 and the second surface 212, which are used to contact the moving plate 21, to be extended by a certain distance to accommodate the installation positions of the first rolling assembly 3 and the second rolling assembly 4, making the contact position more flexible and reasonable.

[0068] In one embodiment, the cross-section of the second surface 212 is convex; the second rolling component 4 includes a roller 41, the surface of which is provided with a second groove 411, the second groove 411 being the rolling surface of the second rolling component 4, the cross-section of the second groove 411 being adapted to the cross-section of the second surface 212, and the moving component 2 driving the roller 41 to rotate when it moves along the fixed plate 1.

[0069] Specifically, the surface of the roller 41 is a circumferential surface, and a second groove 411 is provided on the circumferential surface. When the moving component 2 moves along the fixed plate 1, since the roller 41 is rotatable, the guide rail 24 rubs against the roller 41 as it moves, and the resulting friction drives the roller 41 to rotate. The two are in rolling friction contact. The cross-section of the guide rail 24 can be V-shaped, and correspondingly, the cross-section of the second groove 411 is M-shaped. This protrusion-groove matching design has a guiding function and can limit the displacement of the moving plate 21 in the y-direction.

[0070] In one embodiment, the first rolling assembly 3 includes a stop screw 31 and a bearing 32, wherein the stop screw 31 serves for positioning and connection. The inner side of the first groove 11 is provided with a plurality of evenly distributed mounting holes (not shown), which are used to mount the stop screw 31. The stop screw 31 connects the bearing 32 to the protrusion of the fixing plate 1 through the mounting holes. The rolling surface of the bearing 32 rolls in contact with the first surface 211, generating friction between the rolling surface of the bearing 32 and the first surface 211. When the moving assembly 2 moves along the fixing plate 1, the friction causes the bearing 32 to rotate.

[0071] The screw 31 has threads only at the end connection point, and the middle part that bears the pressure of the bearing 32 is unthreaded and is a smooth section. Therefore, its strength is higher than that of the threaded end, and it can withstand greater external forces. It is suitable for the connection of the bearing 32 in this embodiment.

[0072] Furthermore, the first rolling assembly 3 also includes a nut 33, the plug screw 31 drives the bearing 32 and passes through the protrusion of the fixing plate 1, and the nut 33 is sleeved on the tail of the plug screw 31.

[0073] The bearing 32, which is installed above the fixed plate 1, is not only subjected to the pressure applied by the moving plate 21, but also to its own weight, as it is an inverted structure. Therefore, a nut 33 is added to the end of the screw installed above the fixed plate 1 to balance the effect of gravity and increase the connection strength.

[0074] In one embodiment, the movable plate 21 can extend beyond the first and last ends of the fixed plate 1, and each end of the movable plate 21 is connected to an end pickup 40.

[0075] In this embodiment, the end effectors 40 at both ends of the moving plate 21 cooperate with the transfer table 60. The tail end transfers the workpiece gripped at the previous station to the transfer table 60, and then the head end grips the workpiece on the transfer table 60 and transfers it to the next station. The end effectors 40 at both ends operate synchronously. Furthermore, the contact method between the first rolling assembly 3 and the second rolling assembly 4, in conjunction with the transfer table 60, allows the moving plate 21 to extend beyond both ends of the fixed plate 1 without disengaging from the second rolling assembly 4, achieving double the stroke. Therefore, compared to the transmission method of a guide rail slider of the same volume, this embodiment offers a larger stroke and faster speed.

[0076] In one embodiment, the fixed plate 1 has blocking portions 6 at both ends, which limit the movement range of the movable component 2. The front of the movable plate 21 has a collision-resistant block (not shown), and the movement range of the movable component 2 is limited by the blocking portions 6 abutting against the collision-resistant block.

[0077] In one embodiment, the driving component 5 is a linear motor, including a stator 51 and a mover 52. The stator 51 is disposed within the first groove 11, is rectangular in shape, and is fixedly connected to the fixed plate 1; the mover 52 is fixedly connected to the moving plate 21, is disposed on the front side of the moving plate 21, and is rectangular in shape. The stator 51 generates a driving force to drive the mover 52 to move the moving plate 21 (the motion principle of a linear motor is prior art and will not be described in detail here). The first rolling component 3 supports the moving plate 21, such that the mover 52 and the stator 51 are set at a predetermined distance.

[0078] Specifically, a magnetic attraction is generated between the stator 51 and the mover 52, causing the moving plate 21 to be subjected to an attractive force in the y-direction, which balances the supporting force of the first rolling assembly 3 on the moving plate 21 in the y-direction. By adjusting the depth of the first groove 11 and the heights of the first boss 22 and the second boss 23, the predetermined distance between the stator 51 and the mover 52 can be adjusted. The predetermined distance between the mover 52 and the stator 51 can be 0.7-1.3 mm. Within this range, the attractive force between the stator 51 and the mover 52 can achieve the optimal operating speed of the moving plate 21.

[0079] In one embodiment, the moving component for the planar manipulator further includes a second sensor 8, a positioning component 7, a first cable chain plate 91, a cable chain 92, a second cable chain plate 93, and a progressive distributor 9. The progressive distributor 9 is located on the back of the fixed plate 1 and distributes lubricating oil. The first cable chain plate 91 is fixedly connected to the moving plate 21, and the second cable chain plate 93 is fixedly connected to the fixed plate 1. One end of the cable chain 92 is fixedly connected to the first cable chain plate 91 and moves with the moving plate 21 via the first cable chain plate 91; the other end of the cable chain 92 is fixedly connected to the second cable chain plate 93. The cable chain 92 is used to hold wires.

[0080] The positioning component 7 is used to detect the position and displacement of the moving component 2. The positioning component 7 includes a grating ruler 71 disposed on the outer side of the first groove 11, a guide mechanism 72 fixedly connected to the fixed plate 1, a connecting plate 73 connecting the guide mechanism 72 and the moving component 2, and a first sensor 74 fixedly connected to the connecting plate 73. The distance between the sensing surface of the first sensor 74 and the grating ruler 71 is 0.3-0.8 mm. The moving component 2 drives the first sensor 74 on the connecting plate 73 to move along the guide mechanism 72, which is parallel to the fixed plate 1. Specifically, in this embodiment, the guide mechanism 72 is a slide rail slider guide mechanism 72. Second sensors 8 are respectively disposed at both ends of the fixed plate 1. The moving component 2 blocks the second sensors 8 to cause the second sensors 8 to generate signals for detecting the position of the moving component 2.

[0081] In summary, by employing a linear motor between the fixed plate 1 and the moving plate 21, the speed of the moving plate 21 can be increased. By providing a first groove 11 on the fixed plate 1 and housing the moving component 2 within this groove 11, the volume of the moving component 2 is reduced. By providing multiple first rolling components 3 between the first surface 211 and the bottom surface of the first groove 11, the distance between the moving plate 21 and the fixed plate 1 is maintained, thereby ensuring a distance between the mover 52 and the stator 51 of the linear motor. This rolling friction reduces the friction between the moving component 2 and the first rolling components 3, further increasing the moving speed of the moving plate 21. By providing a second rolling component 4, the friction generated by the moving component 2 during movement is reduced, and the stroke of the moving component 2 is increased.

[0082] Please refer to Figure 7-19 The present invention also provides an embodiment of a robotic arm, including the above-described embodiment of the moving component for a planar robotic arm, wherein the moving component for the planar robotic arm in the robotic arm embodiment corresponds to the x-direction moving component 20. It also includes a frame 30, an end effector 40, a z-direction moving component 50, and a transfer table 60.

[0083] The frame 30 is fixedly connected to the z-direction moving component 50; the x-direction moving component 20 is connected to the z-direction moving component 50; the end effector 40 is fixedly connected to the x-direction moving component 20; the transfer station 60 is fixedly connected to the frame 30 and is located below the middle of the x-direction moving component 20.

[0084] The x-direction moving component 20 drives the end effector 40 to move along the x or -x direction, and the z-direction moving component 50 drives the end effector 40 to move along the z or -z direction through the x-direction moving component 20.

[0085] For a specific embodiment of the end effector 40, please refer to the structure. Figure 8-10 .

[0086] The end effector 40 is used for gripping the workpiece and includes a quick-release base 401 for connecting the x-direction movement component 20 of the robot hand and a gripping component 402 for gripping the workpiece and connected to the quick-release base 401.

[0087] The quick-release base 401 includes an integrally formed connecting part 4011 and a mounting part 4012. The connecting part 4011 is used to connect the robot arm, and the mounting part 4012 is used to mount the gripping component 402. Specifically, the quick-release base 401 has a cubic structure, with the mounting part 4012 at the front end and the connecting part 4011 at the rear end.

[0088] A first channel 4013 extends from the surface of the connecting portion 4011 into its interior. The first channel 4013 is used to mount the positioning post 403 of the robotic arm. The bottom of the first channel 4013 has a notch 4014 connecting its interior and exterior. The notch 4014 allows the reinforcing L-shaped plate 405, which connects to the positioning post 403, to pass through, preventing interference between the first channel 4013 and the L-shaped plate 405. The width of the notch 4014 is less than the maximum width of the cross-section of the first channel 4013; this design provides a locking effect, preventing the positioning post 403 from detaching from the first channel 4013.

[0089] A second channel 4015 extends from the surface of the connecting portion 4011 into the interior of the connecting portion 4011. The end of the second channel 4015 communicates with the first channel 4013 and is arranged intersecting the first channel 4013, specifically, it can be arranged perpendicularly to achieve the best fixing effect for the positioning post 403. The second channel 4015 is used to install the fixing post 404, fixing the positioning post 403 in the first channel 4013.

[0090] The end effector 40 is connected to the x-direction moving component 20 via an L-shaped plate 405. The L-shaped plate 405 includes two mutually perpendicular vertical surfaces. One vertical surface is fixedly connected to the x-direction moving component 20, and the other vertical surface is provided with a positioning post 403.

[0091] The positioning post 403 is fixedly connected to the L-shaped plate 405. The cylindrical surface of the positioning post 403 includes two parallel planes and two opposing curved surfaces. The planes contact the L-shaped plate 405, facilitating the installation of the positioning post 403. The shape of the positioning post 403 is adapted to the first channel 4013 of the end effector. The quick-release base 401 of the end effector 40 contacts the vertical surface where the positioning post 403 is located. A reinforcing plate is provided between the two vertical surfaces of the L-shaped plate 405. Using the L-shaped plate 405 increases the connection strength and the connection area.

[0092] In one embodiment, the number of first channels 4013 is at least two, corresponding to the number of first channels 4013, and the first channels 4013 are symmetrically arranged on the connecting portion 4011. Specifically, in this embodiment, two first channels 4013 are opened at the rear end of the connecting portion 4011, and are symmetrically arranged with respect to the center line of the quick-release base 401. Correspondingly, a second channel 4015 is opened on each of the two sides of the connecting portion 4011, which is perpendicular to and intersects the first channels 4013 and connects to the first channels 4013. This symmetrical design has higher strength and better stability. In other embodiments, there may be three or more first channels 4013, and the second channel 4015 of the middle first channel 4013 may be opened inward from the top surface of the connecting portion 4011.

[0093] In one embodiment, the first channel 4013 is cylindrical, the width of the notch 4014 is smaller than the diameter of the cylindrical cross-section of the first channel 4013, and the second channel 4015 is cylindrical. Using a cylindrical shape facilitates manufacturing and processing.

[0094] In one embodiment, the gripping component 402 includes a suction cup 4021, a first cantilever 4022, and a second cantilever 4023. The first cantilever 4022 is connected to the mounting portion 4012 and is rotatable about the connection point with the mounting portion 4012. The first cantilever 4022 is provided with a first sliding groove hole 4024. The suction cup 4021 is connected to the first cantilever 4022 through a suction cup post 4025, which is movable along the first sliding groove hole 4024.

[0095] The second cantilever 4023 is connected to the first cantilever 4022. The second cantilever 4023 can rotate around the connection point with the first cantilever 4022. The second cantilever 4022 is provided with a second sliding groove hole 4025. The suction cup 4021 is connected to the second cantilever 4023 through a suction cup column 4026. The suction cup column 4026 can move along the second sliding groove hole 4025.

[0096] Specifically, in this embodiment, there are three first cantilever arms 4022 and three second cantilever arms 4023, with one second cantilever arm 4023 mounted on each first cantilever arm 4022. The first cantilever arm 4022 can rotate around its connection point with the mounting part 4012, adjusting its position and consequently the position of the suction cup 4021 on it to accommodate different workpiece sizes. The second cantilever arm 4023 can increase the extension distance of the suction cup 4021 on the first cantilever arm 4022 and change its extension direction to adapt to the gripping requirements of different workpieces. In this embodiment, the gripping assembly 402 has strong flexibility; the position of the suction cup 4021 is adjustable, allowing it to grip different workpieces.

[0097] In one embodiment, the suction cup 4021 is one or more of a vacuum suction cup, a magnetic suction cup, or a flexible suction cup. Different types of suction cups 4021 can be used to grip workpieces of different materials. Vacuum suction cups are suitable for gripping most types of workpieces, magnetic suction cups are suitable for metal materials, and flexible suction cups are suitable for thinner workpieces, avoiding workpiece deformation during the gripping process. In this embodiment, a vacuum suction cup is used.

[0098] In one embodiment, a sensor 406 is also included. The sensor 406 is connected to the gripping assembly 402 via a connecting plate and is used to sense the workpiece to be gripped. Specifically, the sensor 406 is mounted on the first cantilever 4022 via the connecting plate and is used to sense the workpiece below the gripping assembly 402, providing determination information for the operation of the gripping assembly 402.

[0099] In one embodiment, the fixing post 404 includes a first post 4041, a second post 4042, and a third post 4043. The first post 4041, the second post 4042, and the third post 4043 are sequentially connected and form a single integral structure. The outer diameter of the first post 4041 is larger than the inner diameter of the second channel 4015. The surface of the second post 4042 is threaded, and the inner surface of the second channel 4015 is threaded to match the thread of the second post 4042. The outer diameter of the second post 4042 matches the inner diameter of the second channel 4015. The third post 4043 matches the positioning channel (not shown) of the positioning post 403.

[0100] The first post 4041 protrudes outside the second channel 4015, the second post 4042 is located in the second channel 4015, and the threads on its surface lock the fixing post 404 to the second channel 4015. The third post 4042 extends into the positioning post 403, limiting the displacement of the positioning post 403, thereby achieving the function of fixing the positioning post 403. The fixing post 404 can be a plunger.

[0101] The specific embodiment of the z-direction movement component 50 is shown in the structural reference. Figure 11-15 .

[0102] The z-direction moving component 50 is used to realize the movement of the x-direction moving component 20 in the z or -z direction, and includes a drive component 502, a transmission component 503, a moving component 504, a balancing component 505, and an oil collecting component 506.

[0103] The drive assembly 502 is located on the upper surface of the frame 30 and is fixedly connected to the frame 30. Its power output end extends into the frame 30 to provide driving force. The transmission assembly 503 is located in the cavity 3011 of the frame 30 and is connected to the drive assembly 502, and is fixedly connected to the frame 30. The moving assembly 504 is fixedly connected to the transmission assembly 503 and is used to connect other components and drive them to move. These other components can specifically be the end effector of the robotic arm. The balancing assembly 505 is used to balance the weight of the moving assembly 504 and acts on the moving assembly 504.

[0104] The oil collection assembly 506 includes an oil baffle 5061 and an oil collection box 5062. The oil baffle 5061 is located outside the transmission assembly 503 and connected to the transmission assembly 503, and is used to block lubricating oil splashed from the transmission assembly 503. The oil collection box 5062 is located below the transmission assembly 503 and is used to collect lubricating oil that falls from the oil baffle 5061 and the transmission assembly 503. The oil collection assembly 506 can prevent lubricating oil from splashing to other places during the operation of the transmission assembly 503.

[0105] In one embodiment, the transmission assembly 503 includes a lead screw 5031, a collar 5032, and a moving stage 5033. The lead screw 5031 is connected to the frame 30 via a fixing block 5012, which can be integrally formed with the frame 30. The collar 5032 is sleeved on the lead screw 5031, and slides up and down along the lead screw 5031 when the lead screw 5031 rotates. The moving stage 5033 is sleeved on the circumferential surface of the collar 5032, and is connected to the collar 5032 via a clamping block 5034. The drive assembly 502 is connected to the lead screw 5031, driving the lead screw 5031 to rotate. Under the action of the rotation of the lead screw 5031, the collar 5032 drives the moving stage 5033 to move along the lead screw 5031. One end of the moving stage 5033 is fixedly connected to the moving assembly 504, and the other end is movably connected to the balancing assembly 505.

[0106] When the movable assembly with the oil collection structure is in operation, the drive assembly 502 drives the lead screw 5031 to rotate, and the collar 5032, the movable stage 5033, and the movable assembly 504 move along the lead screw 5031. When the collar 5032, the movable stage 5033, and the movable assembly 504 move upward (opposite to the direction of gravity), the balance assembly 505 applies a thrust opposite to gravity to the collar 5032, the movable stage 5033, and the movable assembly 504. When the collar 5032, the movable stage 5033, and the movable assembly 504 move downward (in the same direction as gravity), the balance assembly 505 applies a thrust opposite to gravity to the collar 5032, the movable stage 5033, and the movable assembly 504.

[0107] In one embodiment, the drive component 502 is a motor, specifically, it can be a stepper motor or a servo motor. The output end of the motor is fixedly connected to the lead screw 5031 via a coupling 5021.

[0108] In one embodiment, the balancing component 505 is a cylinder, and the extended end of the cylinder is connected to the moving platform 5033 through a floating joint 5051. The extension and retraction direction of the cylinder's extended end is parallel to the gravity direction of the moving platform 5033.

[0109] In one embodiment, the oil baffle 5061 is fixedly connected to the moving stage 5033, and the oil baffle 5061 surrounds the lead screw 5031. The oil collection box 5062 is located at the bottom of the cavity 3011 of the frame 30, below the lead screw 5031.

[0110] In one embodiment, the oil baffle 5061 includes three mutually perpendicular baffles 5063, which are fixedly connected to the movable stage 5033 and surround the lead screw 5031. The oil baffle 5061 is symmetrically arranged with the movable stage 5033 as the center.

[0111] In one embodiment, the bottom surface 5064 of the oil collection box 5062 is an inclined surface, with its four sides extending vertically to form side surfaces. Two opposite side surfaces are folded outwards and fixedly connected to the frame 30. The inclined surface forms a predetermined angle with the horizontal plane. An oil outlet 5065 is provided at the bottom of the oil collection box 5062, and the oil outlet 5065 is connected to the oil collection tank 5066 of the frame 30 via a pipeline. When the lubricating oil of the transmission component 503 falls into the oil collection box 5062, the lubricating oil collects on the bottom surface 5064 of the oil collection box 5062 towards the oil outlet 5065, and then collects in the oil collection tank 5066 via a pipeline.

[0112] In one embodiment, the moving assembly with the oil collecting structure further includes a control assembly 507 located inside the frame 30 for controlling the drive assembly 502 and the balancing assembly 505.

[0113] The specific embodiment of the transfer station 60 is shown in the structural reference. Figure 16-19 .

[0114] The transfer table 60 is used for transferring workpieces when the robot handles them. It includes a support plate 601, an oil filter plate 602 and a limiting member 603. The oil filter plate 602 is fixedly connected to the support plate 601, and the limiting member 3 is provided on the oil filter plate 602.

[0115] The upper surface of the support plate 601 is provided with an oil collection groove 6011, which is used to collect oil. An oil filter plate 602 is disposed on the upper surface of the support plate 601 and is used to place the workpiece. The oil filter plate 602 has multiple through-holes 6021. When the workpiece is placed on the oil filter plate 602, the oil on the workpiece falls through the oil holes 6021 onto the support plate 601 and then flows into the oil collection groove 6011. The upper surface of the oil filter plate 602 is provided with a guide groove 6022, and a limiting member 603 is installed in the guide groove 6022. Different installation positions can be adjusted along the guide groove 6022. The limiting member 603 is used to limit the position of the workpiece on the oil filter plate 602. Depending on the size and shape of the workpiece, the position of the limiting member 603 can be adjusted to adapt to the shape and size of the workpiece, thereby serving to limit the workpiece.

[0116] In one embodiment, the oil collection trough 6011 is formed by an inner ring 6012 and an outer ring 6013. The area of ​​the outer ring 6013 is larger than the area of ​​the oil filter plate 602, preventing oil from the filter plate 602 from dripping onto the outer periphery of the oil collection trough 6011 on the support plate 601, thereby preventing oil from dripping from the outer periphery of the oil collection trough 6011. In this embodiment, the area of ​​the inner ring 6011 is within the area of ​​the oil filter plate 602, so oil dripping from the edge of the filter plate 602 can directly drip into the oil collection trough 6011. The bottom of the oil collection trough 6011 is provided with an oil outlet hole 6014, through which oil from the workpiece is collected and discharged.

[0117] In one embodiment, a plurality of fixing blocks 604 are provided between the support plate 601 and the oil filter plate 602. The fixing blocks 604 are installed on the upper surface of the support plate 601, and the oil filter plate 602 is fixedly connected to the support plate 601 through the fixing blocks 604, creating a gap between the support plate 601 and the oil filter plate 602. When the operator disassembles the oil filter plate 602, it can be easily removed through the gap, and the gap also facilitates the flow of oil on the surface of the support plate 601.

[0118] The upper surface of the support plate 601 is provided with multiple positioning pins 6015, which can be integrally formed with the support plate 601 or separately set. The oil filter plate 602 is provided with multiple through positioning holes 6023, the positions of which correspond to the positions of the positioning pins 6015. The positioning pins 6015 are inserted into the positioning holes 6023 to position and install the oil filter plate 602.

[0119] Furthermore, the fixing blocks 604 are distributed in the middle and four corners of the oil filter plate 602. This arrangement makes the supporting force on the oil filter plate 602 more uniform, preventing the oil filter plate 602 from deforming in the middle or at the edges when subjected to pressure. The positioning pins 6013 are distributed in the middle or at the four corners of the oil filter plate 602. Specifically, in this embodiment, the fixing blocks 604 are symmetrically distributed on the upper surface of the support plate 601, and the number of fixing blocks 604 is 608. The positioning pins 6015 are symmetrically distributed on the upper surface of the support plate 601, and the number of positioning pins 6015 is 2, symmetrically distributed in the middle of the support plate 601.

[0120] In one embodiment, the limiting member 603 has an upper limit portion 6031 for limiting the position of the workpiece and a fixing portion 6034 extending perpendicularly to the upper limit portion 6031. The fixing portion 6034 is fixedly connected to the oil filter plate 602. Specifically, the upper limit portion 6031 extends downward and bends 90 degrees to form the fixing portion 6024. The upper limit portion 6031 is the part that limits the workpiece, and the fixing portion 6034 is the part that fixes the limiting member 603 on the oil filter plate 602.

[0121] The lower end of the upper limit portion 6031 extends symmetrically to a lower limit portion 6032. The size of the lower limit portion 6032 is adapted to the size of the guide groove 6022. The lower limit portion 6032 is inserted into the guide groove 6022, and the position of the limiting member 603 is adjusted by the movement of the lower limit portion 6032 along the guide groove 6022. Specifically, the guide groove 6022 is composed of two parallel grooves. Correspondingly, the lower limit portion 6032 is formed by branching off two sections from the upper limit portion 6031 and is inserted into the guide groove composed of the two parallel grooves, which can prevent the limiting member 603 from shaking in the guide groove 6022.

[0122] Because there is a gap between the fixing part 6034, which is formed by bending the upper limit part 6031, and the surface of the oil filter plate 602, the workpiece can easily get stuck in the gap when it is thin. Therefore, by setting a lower limit part 6032, which is continuous with the upper limit part 6031, and inserting it into the guide groove 6022, the gap can be blocked, which can effectively prevent the workpiece from getting stuck in the gap and prevent the workpiece from being damaged.

[0123] In one embodiment, the upper end of the upper limit portion 6031 extends outward to form a guide portion 6033, which is used to guide the workpiece to a set position during the workpiece placement process. That is, it increases the size of the inlet at the bottom of the workpiece.

[0124] In one embodiment, the upper limit portion 6031 is cylindrical or sheet-like.

[0125] Specifically, the cylindrical upper limit stop 6031 can be used for thick workpieces because thick workpieces are not easily deformed. The sheet-shaped upper limit stop 6031 is used for thin workpieces because thin workpieces are easily deformed. Using the sheet-shaped upper limit stop 6031 can increase the contact area and reduce the pressure on the thin workpiece.

[0126] In one embodiment, the limiting members 603 are distributed at the four corners of the oil filter plate 602, symmetrically arranged on the upper surface of the oil filter plate 602. The limiting members 603 are installed at different positions on the oil filter plate 602 along the guide groove 6022, so the distance between the relatively arranged limiting members 603 is adjustable. The distance between the limiting members 603 is adjusted according to the size of the product.

[0127] In one embodiment, a plurality of positioning holes 6023 are provided in the guide section of the guide groove 6022 for positioning and fixing of the limiting member 603 in the guide groove 6022.

[0128] The present invention also provides an embodiment of a stamping production line, including the embodiment of the robot arm 10 described above. This stamping production line embodiment is used for stamping workpieces and includes multiple punch presses and the robot arm 10. The robot arm is disposed between adjacent punch presses for transporting workpieces after stamping. The robot arm can also be disposed between a punch press and a loading mechanism or a unloading mechanism for transporting workpieces between the loading mechanism and the punch press or between the punch press and the unloading mechanism.

[0129] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A moving component for a planar robotic arm, characterized in that, include: A fixing plate (1) is used for guidance. The fixing plate (1) is concave in the middle and convex on both sides to form a first groove (11). The moving component (2) is disposed in the first groove (11) and moves along the first groove (11). The moving component (2) includes a moving plate (21) and the moving plate (21) is provided with a first surface (211) and a second surface (212). The first surface (211) is disposed opposite to the bottom surface of the first groove (11), and a plurality of first rolling components (3) are provided between the first surface (211) and the bottom surface of the first groove (11), and the rolling surface of the first rolling component (3) is in rolling contact with the first surface (211). The two sides of the fixed plate (1) are provided with a plurality of second rolling components (4), and the rolling surface of the second rolling component (4) is in rolling contact with the second surface (212). A drive assembly (5) is disposed between the fixed plate (1) and the moving assembly (2) to drive the moving assembly (2) to move along the fixed plate (1); The first rolling component (3) is arranged symmetrically in two rows, and the first rolling component (3) supports the first surface (211). The direction of the supporting force is opposite to the direction of the force exerted by the driving component (5) to press the moving plate (21) onto the first rolling component (3). The second rolling component (4) is arranged symmetrically in two rows, and the upper and lower rows of the second rolling components (4) restrict the up and down movement of the moving plate (21); The movable plate (21) can extend out of the first and last ends of the fixed plate (1), and each end of the movable plate (21) is connected to an end pickup (103). The front of the movable plate (21) is provided with two symmetrical first protrusions (22), and the surface of the first protrusions (22) is the first surface (211). The reverse side of the movable plate (21) is provided with two symmetrical second protrusions (23), the second protrusions (23) are connected to the guide rail (24), and the contact surface between the guide rail (24) and the second rolling component (4) is the second surface (212). The cross-section of the second surface (212) is convex; The second rolling component (4) includes a roller (41), the surface of which is provided with a second groove (411), the second groove (411) is the rolling surface of the second rolling component (4), the cross-section of the second groove (411) is adapted to the cross-section of the second surface (212), and the moving component (2) drives the roller (41) to rotate when it moves along the fixed plate (1).

2. The moving component for a planar robotic arm according to claim 1, characterized in that, The first rolling assembly (3) includes a stop screw (31) and a bearing (32). The stop screw (31) connects the bearing (32) to the protrusion of the fixed plate (1). The rolling surface of the bearing (32) rolls in contact with the first surface (211). When the moving assembly (2) moves along the fixed plate (1), it drives the bearing (32) to rotate.

3. The moving component for a planar robotic arm according to claim 2, characterized in that, It also includes a nut (33), the plug screw (31) passes through the bearing (32) and through the protrusion of the fixing plate (1), and the nut (33) is fitted onto the tail of the plug screw (31).

4. The moving component for a planar manipulator according to claim 1, characterized in that, The drive assembly (5) is a linear motor, including a stator (51) and a mover (52). The stator (51) is located in the first groove (11) and is fixedly connected to the fixing plate (1). The mover (52) is fixedly connected to the moving plate (21), and the stator (51) generates a driving force to drive the mover (52) to move the moving plate (21); The first rolling component (3) supports the moving plate (21) so that the mover (52) and the stator (51) are set at a predetermined distance.

5. The moving component for a planar manipulator according to claim 1, characterized in that, It also includes a positioning component (7), which includes a grating ruler (71) disposed on the outer side of the first groove (11), a guide mechanism (72) fixedly connected to the fixed plate (1), a connecting plate (73) connecting the guide mechanism (72) and the moving component (2), and a first sensor (74) fixedly connected to the connecting plate (73); the moving component (2) drives the first sensor (74) on the connecting plate (73) to move along the guide mechanism (72), and the guide mechanism (72) is arranged parallel to the fixed plate (1); It also includes a second sensor (8), which is disposed at both ends of the fixed plate (1) and is used to sense the moving component (2).

6. A robotic arm, characterized in that, The device includes the moving assembly (20) for a planar manipulator as described in any one of claims 1-5, and further includes a frame (30), an end effector (40), a z-direction moving assembly (50), and a transfer station (60). The frame (30) is fixedly connected to the moving component (20) for the planar manipulator, the moving component (20) for the planar manipulator is fixedly connected to the z-direction moving component (50), and the end effector (40) is fixedly connected to the moving component (20) for the planar manipulator; the transfer station (60) is located below the moving component (2) for the planar manipulator. The moving component (20) for the planar manipulator drives the end effector (40) to move along the x or -x direction, and the moving component (50) in the z direction drives the moving component (20) for the planar manipulator to move along the z or -z direction.

7. A stamping production line, characterized in that, Includes the robotic arm (10) as described in claim 6.

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