A PPU handling manipulator

Abstract

The present invention discloses a PPU handling manipulator, which includes a motor, a PPU driving module, a rotating shaft, a rotating seat, a guide rail and a slider. The PPU driving module includes a bottom shell, an outer shell, a washer, a triangular turntable, a rotating bearing, an eccentric shaft, a first eccentric shaft bearing and an output transmission shaft. The track hole on the outer shell is provided with a first track segment, a second track segment, a third track segment and a fourth track segment. When the motor drives the eccentric shaft to rotate, the eccentric shaft can also drive the triangular turntable to revolve. And during the rotation of the triangular turntable, the rotating bearings at its three corners can rollingly contact the inner wall of the washer. At this time, the rotation speed of the triangular turntable will decrease, enabling the PPU module to have a built-in reduction ratio and can be installed with the motor without a speed reducer. Moreover, the triangular turntable can drive one end of the guide rail to move along the track of the track hole through the output transmission shaft, so that the guide rail on the rotating seat can achieve a 90-degree flipping motion, a vertical lifting motion and a translational motion.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and more specifically, to a PPU handling manipulator. Background Art

[0002] A PPU is a pure cam structure transfer module. Generally, under the action of a servo or stepper motor, an object can move along a predetermined trajectory and can stop at any position within its stroke range through program control. It is mainly used for automatically conveying, feeding, and removing small parts in a cramped space, and these functions are achieved through sequential vertical and horizontal guided motions. Linear guides and circulating bearing elements ensure its high precision and high rigidity. However, in the prior art, usually an additional speed reducer needs to be set to increase the torque, making the structure of the PPU module relatively complex and costly.

[0003] For example, Chinese Patent CN112296980A discloses a roller crossed guide PPU picking and placing manipulator, including a fixed backplate, a speed reducer, a cam groove track plate, an X-axis guide assembly, and a crossed roller Z-axis guide assembly with anti-creeping function; characterized in that a track plate card slot for defining the installation position of the cam groove track plate is provided on the fixed backplate, and two cam groove track plates are cross-engaged and embedded in the track plate card slot. However, this PPU picking and placing manipulator needs to install a speed reducer to increase its torque to make the bearing move along its track, with numerous components, complex structure, and high cost. Moreover, the Z-axis guide of this PPU picking and placing manipulator can only move up and down and left and right, and cannot achieve a 90-degree flipping motion, and is not applicable to automated operations that require flipping feeding. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects in the prior art and provide a PPU handling manipulator that can achieve a 90-degree flipping motion, up and down lifting, and translational motion, with fast speed, small volume, high precision, and can be installed with a motor without a speed reducer.

[0005] To achieve the above object, the present invention provides a PPU handling manipulator, including a motor, a PPU drive module, a rotating shaft, a rotating seat, a guide rail and a slider. The PPU drive module includes a bottom case, an outer case, a gasket, a triangular turntable, a rotating bearing, an eccentric shaft, a first eccentric shaft bearing and an output transmission shaft. A trajectory hole is provided on the outer case, and the trajectory hole is provided with a first trajectory segment, a second trajectory segment, a third trajectory segment and a fourth trajectory segment. The first trajectory segment is perpendicular to the second trajectory segment and symmetrically arranged with the third trajectory segment. The fourth trajectory segment is perpendicular to the third trajectory segment and extends in the direction of the first trajectory segment. The first trajectory segment and the second trajectory segment, the second trajectory segment and the third trajectory segment, and the third trajectory segment and the fourth trajectory segment are all connected by an arc transition segment. The gasket is arranged between the bottom case and the outer case. The rotating bearings are respectively rotatably installed at three corners of the triangular turntable, and the outer wall of each rotating bearing can achieve rolling contact with the inner wall of the cavity of the gasket. The eccentric shaft is rotatably installed between the bottom case and the outer case. The eccentric shaft passes through the central hole of the triangular turntable. The motor is installed on the back of the bottom case, and the output shaft of the motor is connected to the eccentric shaft. The first eccentric shaft bearing is installed between the outer wall of the eccentric part of the eccentric shaft and the inner wall of the central hole of the triangular turntable. One end of the output transmission shaft is installed on the triangular turntable, and the other end of the output transmission shaft passes through the trajectory hole and extends to the outside of the outer case. The rotating seat is rotatably connected to the outer case through the rotating shaft, and the guide rail is slidably connected to the rotating seat through the slider. One end of the guide rail is connected to the other end of the output transmission shaft.

[0006] Preferably, the triangular turntable includes a triangular turntable plate and a triangular cover plate. Arc-shaped grooves for installing the rotating bearings are provided at three vertex angles of the triangular turntable plate, and the rotating bearings are respectively rotatably installed in the arc-shaped grooves. The triangular cover plate is cooperatively installed with the triangular turntable plate.

[0007] Preferably, the eccentric shaft is provided with two eccentric parts, and two first eccentric shaft bearings are provided.

[0008] Preferably, both ends of the eccentric shaft are respectively rotatably connected to the bottom case and the outer case through second eccentric shaft bearings.

[0009] Preferably, the first eccentric shaft bearing and the second eccentric shaft bearing are respectively set as deep groove ball bearings.

[0010] Preferably, the head end of the first trajectory segment of the trajectory hole is disconnected from the tail end of the fourth trajectory segment, or the head end of the first trajectory segment of the trajectory hole is connected to the tail end of the fourth trajectory segment.

[0011] Preferably, the rotating shaft is installed at the intersection point of the first trajectory segment and the fourth trajectory segment of the trajectory hole on the outer case.

[0012] Preferably, a clamping device for clamping the workpiece is provided at the other end of the guide rail.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] The structure of the present invention is simple, novel and reasonably designed. When the motor drives the eccentric shaft to rotate, the eccentric shaft can also drive the triangular turntable to revolve. During the rotation of the triangular turntable, the rotating bearings at its three corners can rollingly contact the inner wall of the washer. At this time, the rotation speed of the triangular turntable will decrease, enabling the PPU module to have a built-in reduction ratio. It can be installed with the motor without a speed reducer. Moreover, the triangular turntable can drive one end of the guide rail to move along the trajectory of the trajectory hole through the output transmission shaft, so that the guide rail on the rotating seat can achieve 90-degree flipping motion, up and down lifting and translational motion. The operation of the present invention is stable and reliable, and it has the advantages of wide application range, high speed, small volume, high precision, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 is a schematic structural diagram of the PPU handling manipulator provided by the embodiment of the present invention;

[0017] Figure 2 is an exploded view of the PPU drive module provided by the embodiment of the present invention;

[0018] Figure 3 is a schematic structural diagram of the housing of the PPU drive module provided by the embodiment of the present invention;

[0019] Figure 4 is an exploded view of the triangular turntable and the rotating bearing provided by the embodiment of the present invention;

[0020] Figure 5 is an assembly diagram of the rotating shaft, the rotating seat, the guide rail and the slider provided by the embodiment of the present invention;

[0021] Figure 6 is a schematic structural diagram of the clamping part of the PPU handling manipulator rising along the first trajectory segment;

[0022] Figure 7 is a schematic structural diagram of the clamping part of the PPU handling manipulator obliquely translating along the second trajectory segment;

[0023] Figure 8 It is a schematic structural diagram when the clamping part of the PPU handling manipulator provided by the embodiment of the present invention deflects and descends along the third trajectory segment;

[0024] Figure 9 It is a schematic structural diagram when the clamping part of the PPU handling manipulator provided by the embodiment of the present invention moves from the third trajectory segment to the fourth trajectory segment and is in a horizontal state;

[0025] Figure 10 It is a schematic structural diagram when the clamping part of the PPU handling manipulator provided by the embodiment of the present invention horizontally traverses to one side along the fourth trajectory segment. Detailed implementation manners

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts fall within the scope of protection of the present invention.

[0027] Please refer to Figure 1 and Figure 5 , the embodiment of the present invention provides a PPU handling manipulator, which includes components such as a motor 1, a PPU drive module 2, a rotating shaft 3, a rotating seat 4, a guide rail 5, and a slider 6. The following will describe each component of this embodiment in detail with reference to the accompanying drawings.

[0028] As Figure 2 and Figure 3 shown, the PPU drive module 2 may include a bottom case 21, an outer shell 22, a gasket 23, a triangular turntable 24, a rotating bearing 25, an eccentric shaft 26, a first eccentric shaft bearing 27, and an output transmission shaft 28. Among them, a trajectory hole 221 is formed on the outer shell 22, and the trajectory hole 221 may be provided with a first trajectory segment 221a, a second trajectory segment 221b, a third trajectory segment 221c, and a fourth trajectory segment 221d. The first trajectory segment 221a is longitudinally arranged, the first trajectory segment 221a is perpendicular to the second trajectory segment 221b and symmetrically arranged with the third trajectory segment 221c. The fourth trajectory segment 221d is perpendicular to the third trajectory segment 221c and horizontally extends in the direction of the first trajectory segment 221a. The first trajectory segment 221a and the second trajectory segment 221b, the second trajectory segment 221b and the third trajectory segment 221c, and the third trajectory segment 221c and the fourth trajectory segment 221d are all connected by an arc transition segment 221e. The head end of the first trajectory segment 221a is disconnected from the tail end of the fourth trajectory segment 221d. In this way, the trajectory hole 221 can generally form an unclosed square trajectory structure.

[0029] It should be noted here that in another embodiment, the head end of the first track segment 221a of the track hole 221 can also be connected to the tail end of the fourth track segment 221d, and the track hole 221 generally forms a closed-loop square track structure.

[0030] As Figure 2 shown, the gasket 23 is arranged between the bottom shell 21 and the outer shell 22. The cavity of the gasket 23 is generally square, and the four corners have arc transitions.

[0031] As Figure 2 and Figure 4 shown, the rotating bearings 25 are respectively rotatably installed at the three corners of the triangular turntable 24, and the outer walls of each rotating bearing 25 can achieve rolling contact with the inner wall of the cavity of the gasket 23. In this embodiment, preferably, the triangular turntable 24 can include a triangular turntable plate 241 and a triangular cover plate 242. Arc-shaped grooves 243 for installing the rotating bearings 25 are provided at the three top corners of the triangular turntable plate 241. The rotating bearings 25 are rotatably installed in the arc-shaped grooves 243 through shafts, and the triangular cover plate 242 is installed in cooperation with the triangular turntable plate 241.

[0032] As Figure 1 and Figure 2 shown, the eccentric shaft 26 passes through the central hole of the triangular turntable 24. The eccentric shaft 26 is rotatably installed between the bottom shell 21 and the outer shell 22, and the two ends of the eccentric shaft 26 can be respectively rotatably connected to the bottom shell 21 and the outer shell 22 through the second eccentric shaft bearings 29.

[0033] The first eccentric shaft bearing 27 is installed between the outer wall of the eccentric part of the eccentric shaft 26 and the inner wall of the central hole of the triangular turntable 24. In this embodiment, the eccentric shaft 26 is provided with two eccentric parts, and two first eccentric shaft bearings 27 are provided.

[0034] Preferably, the first eccentric shaft bearing 27 and the second eccentric shaft bearing 29 can be respectively set as deep groove ball bearings. Of course, other types of bearings can also be used according to actual needs, not limited to this embodiment.

[0035] As Figure 1 and Figure 2 shown, one end of the output transmission shaft 28 is installed on the triangular turntable 24, and the other end of the output transmission shaft 28 passes through the track hole 221 and extends outside the outer shell 22.

[0036] As Figure 3 shown, the rotating shaft 3 can be preferably installed at the intersection of the first track segment 221a and the fourth track segment 221d of the track hole 221 corresponding to the outer shell 22, that is, the mounting hole 222.

[0037] As Figure 1 andFigure 5 As shown, the rotating base 4 is rotatably connected to the outer shell 22 through a rotating shaft 3. The guide rail 5 is slidably connected to the rotating base 4 through a slider 6, and one end of the guide rail 5 is connected to the other end of the output transmission shaft 28.

[0038] As Figure 1 shown, a clamping device 7 for clamping workpieces may be installed at the other end of the guide rail 5. Specifically, in implementation, the clamping device 7 may be set as a clamp cylinder or various grippers. Of course, according to actual needs, other fixtures or production and processing devices may also be installed at the other end of the guide rail 5, which is not limited to this embodiment.

[0039] The working principle of this manipulator is as follows:

[0040] During operation, the PPU module can be directly assembled with the motor, and the eccentric shaft is connected to the output shaft of the motor. When the motor drives the eccentric shaft to rotate, the eccentric shaft can also drive the triangular turntable to revolve. And during the rotation of the triangular turntable, the rotating bearings at its three corners can rollingly contact the inner wall of the washer. At this time, the rotation speed of the triangular turntable will decrease, and the triangular turntable can drive the output transmission shaft to move back and forth along the trajectory of the trajectory hole.

[0041] As Figure 6 shown, when the output transmission shaft moves upward along the first trajectory segment of the trajectory hole, the guide rail in the vertical state moves upward relative to the rotating base. As Figure 7 shown, when the output transmission shaft moves from the first trajectory segment to the second trajectory segment of the trajectory hole, the guide rail flips upward to an inclined state, and one end of the guide rail moves horizontally in the direction of the third trajectory segment. As Figure 8 shown, when the output transmission shaft moves from the second trajectory segment to the third trajectory segment of the trajectory hole, the guide rail continues to flip upward, and one end of the guide rail moves downward. As Figure 9 shown, when the output transmission shaft moves from the third trajectory segment to the fourth trajectory segment of the trajectory hole, the guide rail flips 90 degrees and is in a horizontal state. As Figure 10 shown, when the output transmission shaft moves along the fourth trajectory segment of the trajectory hole, the guide rail moves horizontally in the direction of the first trajectory segment.

[0042] When the manipulator of this embodiment is installed with a clamping device, driven by the PPU module, the clamping device can flip the material 90 degrees after clamping the material, and then perform translational feeding.

[0043] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. A PPU handling manipulator, characterized in that: It includes a motor (1), a PPU drive module (2), a rotating shaft (3), a rotating base (4), a guide rail (5) and a slider (6). The PPU drive module (2) includes a bottom case (21), a housing (22), a washer (23), a triangular turntable (24), a rotating bearing (25), an eccentric shaft (26), a first eccentric shaft bearing (27), and an output transmission shaft (28). A trajectory hole (221) is provided on the housing (22), and the trajectory hole (221) is provided with a first trajectory segment (221a), a second trajectory segment (221b), a third trajectory segment (221c) and a fourth trajectory segment (221d). The first trajectory segment (221a) is perpendicular to the second trajectory segment (221b) and symmetrically arranged with the third trajectory segment (221c). The fourth trajectory segment (221d) is perpendicular to the third trajectory segment (221c) and extends in the direction of the first trajectory segment (221a). The first trajectory segment (221a) and the second trajectory segment (221b), the second trajectory segment (221b) and the third trajectory segment (221c), and the third trajectory segment (221c) and the fourth trajectory segment (221d) are all connected by an arc transition segment (221e). The washer (23) is arranged between the bottom case (21) and the housing (22). The washer (23) is provided with a cavity, and the cavity of the washer (23) is generally square with arc transitions at the four corners. The rotating bearings (25) are respectively rotatably installed at the three corners of the triangular turntable (24), and the outer wall of each rotating bearing (25) can achieve rolling contact with the inner wall of the cavity of the washer (23). The eccentric shaft (26) is rotatably installed between the bottom case (21) and the housing (22). The eccentric shaft (26) passes through the central hole of the triangular turntable (24). The motor (1) is installed on the back of the bottom case (21), and the output shaft of the motor (1) is connected to the eccentric shaft (26). The first eccentric shaft bearing (27) is installed between the outer wall of the eccentric part of the eccentric shaft (26) and the inner wall of the central hole of the triangular turntable (24). One end of the output transmission shaft (28) is installed on the triangular turntable (24), and the other end of the output transmission shaft (28) passes through the trajectory hole (221) and extends to the outside of the housing (22). The rotating base (4) is rotatably connected to the housing (22) through the rotating shaft (3). The guide rail (5) is slidably connected to the rotating base (4) through the slider (6), and one end of the guide rail (5) is connected to the other end of the output transmission shaft (28).

2. The PPU handling manipulator according to claim 1, characterized in that: The triangular turntable (24) includes a triangular turntable plate (241) and a triangular cover plate (242). Arc-shaped grooves (243) for installing the rotating bearings (25) are provided at the three top corners of the triangular turntable plate (241), and the rotating bearings (25) are respectively rotatably installed in the arc-shaped grooves (243). The triangular cover plate (242) is installed in cooperation with the triangular turntable plate (241).

3. A PPU handling manipulator according to claim 1, characterized in that: The eccentric shaft (26) is provided with two eccentric parts, and the first eccentric shaft bearings (27) are provided with two.

4. The PPU handling manipulator according to claim 1, wherein: Both ends of the eccentric shaft (26) are rotatably connected to the bottom case (21) and the outer case (22) through second eccentric shaft bearings (29) respectively.

5. The PPU handling robot according to claim 1, wherein: The first eccentric shaft bearing (27) and the second eccentric shaft bearing (29) are respectively arranged as deep groove ball bearings.

6. The PPU handling robot according to claim 1, wherein: The head end of the first trajectory segment (221a) of the trajectory hole (221) is disconnected from the tail end of the fourth trajectory segment (221d), or the head end of the first trajectory segment (221a) of the trajectory hole (221) is connected to the tail end of the fourth trajectory segment (221d).

7. A PPU handling manipulator according to claim 1, characterized in that: The rotating shaft (3) is installed at the intersection of the first trajectory segment (221a) and the fourth trajectory segment (221d) of the trajectory hole (221) on the outer case (22).

8. A PPU handling manipulator according to any one of claims 1 to 7, characterized in that: The other end of the guide rail (5) is provided with a clamping device (7) for clamping a workpiece.

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