Three-axis truss robot for electroplating and control system

Abstract

The invention provides a three-axis truss robot for electroplating and a control system, and relates to the technical field of electroplating machining. The two arched supporting frames are arranged in a bilateral symmetry mode, motors are fixedly installed at the front ends of the arched supporting frames, small chain wheels are arranged on driving shafts of the motors, and chains are connected to the outer portions of the small chain wheels. The front end of the arched support frame is connected with a front rotating shaft, the end part of the front rotating shaft is provided with a large chain wheel, and the small chain wheel is in transmission connection with the large chain wheel; the rear end of the arched supporting frame is connected with a front rotating shaft, and two steel wire ropes are connected outside the front rotating shaft and connected with the front rotating shaft. Feeding is conducted through the front assembly base, discharging is conducted through the rear assembly base, feeding and discharging are conducted synchronously, automatic operation is conducted in the whole process, and the workpiece electroplating machining efficiency is effectively improved. The problems that in the application process of an existing three-axis truss robot for electroplating, a single mechanical gripper is mostly adopted for carrying out feeding and discharging design, workpiece electroplating consumes long time, and the machining efficiency is low are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electroplating processing, and particularly to a three-axis truss robot and a control system for electroplating. Background Art

[0002] Electroplating is a process of plating a thin layer of other metals or alloys on the surface of certain metals by using the electrolysis principle. It is a process of attaching a metal film to the surface of metal or other material parts by using electrolysis to prevent metal oxidation, improve wear resistance, electrical conductivity, reflectivity, corrosion resistance and enhance beauty, etc. Most electroplating operations use a three-axis truss robot for loading and unloading operations.

[0003] Currently, in the application of existing three-axis truss robots for electroplating, a single mechanical gripper design is mostly adopted. A single mechanical gripper is used to lift the electroplating rack with the workpiece suspended into the electroplating tank. After the workpiece is electroplated, the mechanical gripper is used to transfer the electroplating rack with the workpiece suspended to the temporary storage area. The electroplating time for a single batch of workpieces is relatively long, and the electroplating processing efficiency is low. Summary of the Invention

[0004] The present invention relates to a three-axis truss robot and a control system for electroplating, which solves the problem that in the application of existing three-axis truss robots for electroplating, a single mechanical gripper design is mostly adopted. A single mechanical gripper is used to lift the electroplating rack with the workpiece suspended into the electroplating tank. After the workpiece is electroplated, the mechanical gripper is used to transfer the electroplating rack with the workpiece suspended to the temporary storage area. The electroplating time for a single batch of workpieces is relatively long, and the electroplating processing efficiency is low.

[0005] According to a first aspect of the present invention, a three-axis truss robot for electroplating and a control system are provided, which specifically include: an arched support frame, a motor, a chain, a front rotating shaft, a rear rotating shaft, a steel wire rope, a movable slot seat, an assembly seat, a positioning pin, a linkage frame, a horizontal slide, a vertical slide and a gear; the arched support frame is symmetrically arranged with two, a motor is fixedly mounted on the front end of the arched support frame, a small sprocket is arranged on the driving shaft of the motor, and a chain is connected to the outside of the small sprocket; the front end of the arched support frame is connected to the front rotating shaft, a large sprocket is arranged at the end of the front rotating shaft, and the small sprocket is connected to the large sprocket through a chain; the rear end of the arched support frame is connected to the front rotating shaft, and the front rotating shaft is connected to two steel wire ropes. Rope, the wire rope is connected to the front rotating shaft; two movable slot seats are connected to the top of the arch support frame, and the wire rope is connected to the two movable slot seats; the top of the movable slot seat is connected to an assembly seat, and two locating pins are installed at the bottom of the assembly seat, and the locating pins are in contact with the assembly seat; the outside of the movable slot seat is connected to a linkage frame; a horizontal slide is fixedly installed on the top of the assembly seat, a vertical slide is installed on the slide of the horizontal slide, and a mechanical gripper is installed on the slide of the vertical slide; a gear is connected to the bottom of the assembly seat, a handle is provided on the outside of the gear, and the gear is connected to the two locating pins; the motor, horizontal slide, vertical slide and mechanical gripper are connected to the terminal control platform wires through lines.

[0006] Furthermore, a track is arranged on the top of the arch support frame, and rollers are arranged outside the movable slot seat, the rollers are rollingly connected in the track, and the four movable slot seats are arranged symmetrically on the left and right.

[0007] Furthermore, the front rotating shaft is rotatably connected to the arch support frame, the rear rotating shaft is rotatably connected to the arch support frame, the left and right ends of the front rotating shaft are provided with main rubber wheels, the left and right ends of the rear rotating shaft are provided with slave rubber wheels, and the main rubber wheels are transmission-connected to the slave rubber wheels through steel wire ropes.

[0008] Furthermore, the front end of the linkage frame is fixedly connected to the two front left and right movable slot seats, and the rear end of the linkage frame is fixedly connected to the two rear left and right movable slot seats.

[0009] Furthermore, one end of the steel wire rope is connected to the front movable groove seat, and the other end of the steel wire rope is connected to the rear movable groove seat.

[0010] Furthermore, there are two assembly seats, which are distributed front and back. When the front assembly seat is at the top of the loading platform, the rear assembly seat is at the top of the electroplating tank. When the front assembly seat is at the top of the electroplating tank, the rear assembly seat is at the top of the unloading platform.

[0011] Furthermore, the left and right ends of the assembly seat are slidably placed inside the two movable groove seats, and the bottom of the assembly seat is symmetrically provided with guide holes, and the positioning pins are slidably connected to the guide holes.

[0012] Further, a spring is sleeved outside the positioning pin. One end of the spring contacts the positioning pin, and the other end of the spring contacts the assembly seat.

[0013] Further, a rack is arranged outside the positioning pin. The gear is rotatably connected to the assembly seat. The gear is in transmission engagement with two racks. A handle is arranged outside the gear.

[0014] The present invention provides a three-axis truss robot and a control system for electroplating, having the following beneficial effects:

[0015] When the present invention is in use, the distance between the front and rear assembly seats is limited by the linkage frame; the electroplating hanger with the workpiece suspended is placed on the top of the loading platform. The motor drives the front rotating shaft to rotate through the chain. The front rotating shaft drives the front and rear assembly seats to move synchronously through the steel wire rope. When the front assembly seat moves to the top of the loading platform, the mechanical gripper is driven to move by the horizontal slide and the vertical slide on the top of the assembly seat, and the electroplating hanger on the loading platform is clamped and lifted to a specified height; at the same time, the rear assembly seat moves to the top of the electroplating tank. After the workpiece in the electroplating tank is electroplated, the mechanical gripper is driven to move by the horizontal slide and the vertical slide on the top of the assembly seat, and the electroplating hanger in the electroplating tank is clamped and lifted to a specified height; when the front assembly seat moves to the top of the electroplating tank, the mechanical gripper is driven to move by the horizontal slide and the vertical slide on the top of the assembly seat, and the electroplating hanger is lowered into the electroplating tank to electroplate the workpiece suspended in the electroplating hanger; at the same time, the rear assembly seat moves to the top of the unloading platform. The mechanical gripper is driven to move by the horizontal slide and the vertical slide on the top of the assembly seat, and the electroplating hanger can be lowered onto the unloading platform; the front assembly seat is used for loading, and the rear assembly seat is used for unloading. The loading and unloading are carried out synchronously, and the whole process is automated, effectively improving the electroplating processing efficiency of the workpiece.

[0016] In addition, after the assembly seat is placed inside the movable groove seat, under the influence of the spring thrust, the positioning pin moves outwards and resets, so that the end of the positioning pin contacts the bottom of the movable groove seat, ensuring the firm connection between the assembly seat and the movable groove seat, making the disassembly and assembly of the assembly seat more convenient, providing excellent guarantee for later maintenance. When the horizontal slide, the vertical slide or the mechanical gripper fails, the handle can be used to drive the gear to rotate. The gear drives the positioning pin to move inwards, and the spring contracts under force, so that the end of the positioning pin is separated from the bottom of the movable groove seat, and the assembly seat can be separated from the top of the movable groove seat and lowered to the ground for overhaul and replacement of the horizontal slide, the vertical slide or the mechanical gripper, and the operation is more convenient.

[0017] Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly introduced below.

[0019] The accompanying drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0020] In the accompanying drawings:

[0021] Figure 1 The schematic diagram of the overall left front rotating shaft side structure of the present application is shown;

[0022] Figure 2 The schematic diagram of the overall bottom shaft side structure of the present application is shown;

[0023] Figure 3 The schematic diagram of the connection structure between the arched support frame and the movable groove seat of the present application is shown;

[0024] Figure 4 The schematic diagram of the connection structure of the steel wire rope, the movable groove seat and the linkage frame of the present application is shown;

[0025] Figure 5 The schematic diagram of the connection structure of the movable groove seat, the assembly seat and the linkage frame of the present application is shown;

[0026] Figure 6 The schematic diagram of the bottom shaft side structure of the assembly seat of the present application is shown;

[0027] Figure 7 The schematic diagram of the split structure of the movable groove seat and the assembly seat of the present application is shown;

[0028] Figure 8 The schematic diagram of the split structure of the assembly seat and the positioning pin of the present application is shown;

[0029] Figure 9 The schematic diagram of the control system of the present application is shown.

[0030] Reference numerals:

[0031] 1. Arched support frame; 101. Track; 2. Motor; 201. Small sprocket; 3. Chain; 4. Front rotating shaft; 401. Large sprocket; 402. Main rubber wheel; 5. Rear rotating shaft; 501. Driven rubber wheel; 6. Steel wire rope; 7. Movable groove seat; 701. Roller; 8. Assembly seat; 801. Guide hole; 9. Positioning pin; 901. Rack; 10. Spring; 11. Linkage frame; 12. Horizontal sliding table; 13. Vertical sliding table; 14. Gear; 1401. Handle. Detailed embodiments

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the embodiments of the present invention in conjunction with the accompanying drawings of 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 described embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0033] Please refer to Figures 1 to 9 : Embodiment 1:

[0034] The present invention provides a three-axis truss robot and control system for electroplating, including: an arched support frame 1, a motor 2, a chain 3, a front rotating shaft 4, a rear rotating shaft 5, a steel wire rope 6, a movable groove seat 7, an assembly seat 8, a positioning pin 9, a linkage frame 11, a horizontal slide 12, a vertical slide 13, and a gear 14; two arched support frames 1 are symmetrically arranged on the left and right, a motor 2 is fixedly installed at the front end of the arched support frame 1, a small sprocket 201 is arranged on the drive shaft of the motor 2, and a chain 3 is connected to the outside of the small sprocket 201; the front end of the arched support frame 1 is connected to a front rotating shaft 4, a large sprocket 401 is arranged at the end of the front rotating shaft 4, and the small sprocket 201 is connected to the large sprocket 401 through the chain 3; the rear end of the arched support frame 1 is connected to a front rotating shaft 4, and two steel wire ropes 6 are connected to the outside of the front rotating shaft 4, and the steel wire ropes 6 are connected to the front rotating shaft 4; two movable groove seats 7 are connected to the top of the arched support frame 1, and the steel wire ropes 6 are connected to the two movable groove seats 7; an assembly seat 8 is connected to the top of the movable groove seat 7, two positioning pins 9 are installed at the bottom of the assembly seat 8, and the positioning pins 9 are in contact with the assembly seat 8; a linkage frame 11 is connected to the outside of the movable groove seat 7; a horizontal slide 12 is fixedly installed at the top of the assembly seat 8, a vertical slide 13 is installed on the slide seat of the horizontal slide 12, and a mechanical gripper is installed on the slide seat of the vertical slide 13; a gear 14 is connected to the bottom of the assembly seat 8, a handle 1401 is arranged outside the gear 14, and the gear 14 is connected to the two positioning pins 9; the motor 2, the horizontal slide 12, the vertical slide 13, and the mechanical gripper are electrically connected to the terminal control platform through wires; a track 101 is arranged at the top of the arched support frame 1, a roller 701 is arranged outside the movable groove seat 7, and the roller 701 is in rolling connection with the track 101, and the four movable groove seats 7 are symmetrically arranged on the left and right; the front rotating shaft 4 is rotatably connected to the arched support frame 1, the rear rotating shaft 5 is rotatably connected to the arched support frame 1, main rubber wheels 402 are arranged at the left and right ends of the front rotating shaft 4, driven rubber wheels 501 are arranged at the left and right ends of the rear rotating shaft 5, and the main rubber wheels 402 are connected to the driven rubber wheels 501 through the steel wire ropes 6.

[0035] In this embodiment, the front end of the linkage frame 11 is fixedly connected to the left and right two front movable groove seats 7, the rear end of the linkage frame 11 is fixedly connected to the left and right two rear movable groove seats 7, one end of the steel wire rope 6 is connected to the front movable groove seat 7, the other end of the steel wire rope 6 is connected to the rear movable groove seat 7, there are two assembly seats 8, and the two assembly seats 8 are distributed front and rear. When the front assembly seat 8 is at the top of the loading platform, the rear assembly seat 8 is located at the top of the electroplating bath. When the front assembly seat 8 is at the top of the electroplating bath, the rear assembly seat 8 is located at the top of the unloading platform;

[0036] With the above technical solution, the distance between the front and rear two assembly seats 8 is limited by the linkage frame 11; the electroplating hanger with the workpiece suspended is placed on the top of the loading platform. The motor 2 drives the front rotating shaft 4 to rotate through the chain 3, and the front rotating shaft 4 drives the front and rear two assembly seats 8 to move synchronously through the steel wire rope 6. When the front assembly seat 8 moves to the top of the loading platform, the mechanical gripper is driven by the horizontal slide 12 and the vertical slide 13 on the top of the assembly seat 8 to move, and the electroplating hanger on the loading platform is clamped and lifted to a specified height; at the same time, the rear assembly seat 8 moves to the top of the electroplating bath. After the workpiece in the electroplating bath is electroplated, the mechanical gripper is driven by the horizontal slide 12 and the vertical slide 13 on the top of the assembly seat 8 to move, and the electroplating hanger in the electroplating bath is clamped and lifted to a specified height; when the front assembly seat 8 moves to the top of the electroplating bath, the mechanical gripper is driven by the horizontal slide 12 and the vertical slide 13 on the top of the assembly seat 8 to move, and the electroplating hanger is lowered into the electroplating bath to electroplate the workpiece suspended in the electroplating hanger; at the same time, the rear assembly seat 8 moves to the top of the unloading platform, and the mechanical gripper is driven by the horizontal slide 12 and the vertical slide 13 on the top of the assembly seat 8 to move, and the electroplating hanger can be lowered onto the unloading platform; the front assembly seat 8 is used for loading, and the rear assembly seat 8 is used for unloading. The loading and unloading are carried out synchronously, and the whole process is automated, effectively improving the electroplating processing efficiency of the workpiece.

[0037] Embodiment 2, on the basis of Embodiment 1, the left and right ends of the assembly seat 8 are slidably placed inside the two movable groove seats 7. The bottom of the assembly seat 8 is symmetrically provided with guide holes 801. The positioning pins 9 are slidably connected in the guide holes 801. A spring 10 is sleeved outside the positioning pins 9. One end of the spring 10 contacts the positioning pins 9, the other end of the spring 10 contacts the assembly seat 8. A rack 901 is arranged outside the positioning pins 9. The gear 14 is rotatably connected to the assembly seat 8. The gear 14 is in transmission engagement with the two racks 901. A handle 1401 is arranged outside the gear 14;

[0038] With the above technical solution, after the assembly seat 8 is placed inside the top of the movable groove seat 7, the positioning pin 9 moves outward and resets under the thrust of the spring 10, so that the end of the positioning pin 9 contacts the bottom of the movable groove seat 7, ensuring the firm connection between the assembly seat 8 and the movable groove seat 7, making the disassembly and assembly of the assembly seat 8 more convenient, and providing excellent guarantee for later maintenance. When the horizontal sliding table 12, the vertical sliding table 13 or the mechanical gripper fails, the handle 1401 can be used to drive the gear 14 to rotate, the gear 14 drives the positioning pin 9 to move inward, the spring 10 contracts under force, so that the end of the positioning pin 9 is separated from the bottom of the movable groove seat 7, and the assembly seat 8 can be separated from the top of the movable groove seat 7 and lowered to the ground for maintenance and replacement of the horizontal sliding table 12, the vertical sliding table 13 or the mechanical gripper, and the operation is more convenient.

[0039] The working principle of this embodiment: First, place the assembly seat 8 inside the top of the movable groove seat 7. The positioning pin 9 moves outward and resets under the thrust of the spring 10, so that the end of the positioning pin 9 contacts the bottom of the movable groove seat 7, ensuring the firm connection between the assembly seat 8 and the movable groove seat 7; The electroplating hanger with the workpiece suspended is placed on the top of the loading platform. The motor 2 drives the front rotating shaft 4 to rotate through the chain 3, and the front rotating shaft 4 drives the front and rear two assembly seats 8 to move synchronously through the steel wire rope 6. When the front assembly seat 8 moves to the top of the loading platform, the horizontal sliding table 12 and the vertical sliding table 13 on the top of the assembly seat 8 drive the mechanical gripper to move, and clamp and lift the electroplating hanger on the loading platform to a specified height; At the same time, the rear assembly seat 8 moves to the top of the electroplating tank. After the workpiece in the electroplating tank is electroplated, the horizontal sliding table 12 and the vertical sliding table 13 on the top of the assembly seat 8 drive the mechanical gripper to move, and clamp and lift the electroplating hanger in the electroplating tank to a specified height; When the front assembly seat 8 moves to the top of the electroplating tank, the horizontal sliding table 12 and the vertical sliding table 13 on the top of the assembly seat 8 drive the mechanical gripper to move, and lower the electroplating hanger into the electroplating tank to electroplate the workpiece suspended in the electroplating hanger; At the same time, the rear assembly seat 8 moves to the top of the unloading platform, and the horizontal sliding table 12 and the vertical sliding table 13 on the top of the assembly seat 8 drive the mechanical gripper to move, and the electroplating hanger can be lowered onto the unloading platform; The front assembly seat 8 is used for loading, and the rear assembly seat 8 is used for unloading. The loading and unloading are carried out synchronously, and the whole process is automated; When the horizontal sliding table 12, the vertical sliding table 13 or the mechanical gripper fails, the handle 1401 can be used to drive the gear 14 to rotate, the gear 14 drives the positioning pin 9 to move inward, the spring 10 contracts under force, so that the end of the positioning pin 9 is separated from the bottom of the movable groove seat 7, and the assembly seat 8 can be separated from the top of the movable groove seat 7 and lowered to the ground for maintenance and replacement of the horizontal sliding table 12, the vertical sliding table 13 or the mechanical gripper.

[0040] In this article, the following points need to be noted:

[0041] 1. The attached drawings of the embodiments of the present invention only relate to the structures involved in the embodiments of the present invention, and other structures can refer to the general design.

[0042] 2. Without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0043] The above are only the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A three-axis truss robot and control system for electroplating, comprising: Arch support frame (1); characterized in that there are two arch support frames (1) symmetrically arranged left and right, a motor (2) is fixedly installed at the front end of the arch support frame (1), a small sprocket (201) is arranged on the drive shaft of the motor (2), and a chain (3) is connected outside the small sprocket (201); the front end of the arch support frame (1) is connected with a front rotating shaft (4), a large sprocket (401) is arranged at the end of the front rotating shaft (4), and the small sprocket (201) is in transmission connection with the large sprocket (401) through the chain (3); the rear end of the arch support frame (1) is connected with a front rotating shaft (4), and two steel wire ropes (6) are connected outside the front rotating shaft (4), and the steel wire rope (6) is connected with the front rotating shaft (4); two movable groove seats (7) are connected to the top of the arch support frame (1), and the steel wire rope (6) is connected with the two movable groove seats (7); an assembly seat (8) is connected to the top of the movable groove seat (7), two positioning pins (9) are installed at the bottom of the assembly seat (8), and the positioning pin (9) is in contact with the assembly seat (8); a linkage frame (11) is connected outside the movable groove seat (7); a horizontal sliding table (12) is fixedly installed at the top of the assembly seat (8), a vertical sliding table (13) is installed on the sliding seat of the horizontal sliding table (12), and a mechanical gripper is installed on the sliding seat of the vertical sliding table (13); a gear (14) is connected to the bottom of the assembly seat (8), a handle (1401) is arranged outside the gear (14), and the gear (14) is connected with the two positioning pins (9); the motor (2), the horizontal sliding table (12), the vertical sliding table (13) and the mechanical gripper are electrically connected to the terminal control platform through wires.

2. The three-axis truss robot and control system for electroplating according to claim 1, characterized in that A track (101) is arranged at the top of the arch support frame (1), rollers (701) are arranged outside the movable groove seat (7), the rollers (701) are in rolling connection in the track (101), and the four movable groove seats (7) are symmetrically arranged left and right.

3. The three-axis truss robot and control system for electroplating according to claim 1, characterized in that The front rotating shaft (4) is rotationally connected with the arch support frame (1), the rear rotating shaft (5) is rotationally connected with the arch support frame (1), main rubber wheels (402) are arranged at the left and right ends of the front rotating shaft (4), driven rubber wheels (501) are arranged at the left and right ends of the rear rotating shaft (5), and the main rubber wheels (402) are in transmission connection with the driven rubber wheels (501) through the steel wire rope (6).

4. The three-axis truss robot and control system for electroplating according to claim 1, characterized in that The front end of the linkage frame (11) is fixedly connected with the left and right two movable groove seats (7) at the front, and the rear end of the linkage frame (11) is fixedly connected with the left and right two movable groove seats (7) at the rear.

5. The three-axis truss robot and control system for electroplating according to claim 1, characterized in that One end of the steel wire rope (6) is connected with the movable groove seat (7) at the front, and the other end of the steel wire rope (6) is connected with the movable groove seat (7) at the rear.

6. A three-axis truss robot and control system for electroplating according to claim 1, characterized in that there are two of the mounting seats (8), and the two mounting seats (8) are distributed front and rear. When the front mounting seat (8) is at the top of the loading platform, the rear mounting seat (8) is at the top of the electroplating tank. When the front mounting seat (8) is at the top of the electroplating tank, the rear mounting seat (8) is at the top of the unloading platform.

7. A three-axis truss robot and control system for electroplating according to claim 1, characterized in that the left and right ends of the mounting seat (8) are slidably placed inside two movable groove seats (7), and guide holes (801) are symmetrically arranged at the bottom of the mounting seat (8), and positioning pins (9) are slidably connected inside the guide holes (801).

8. A three-axis truss robot and control system for electroplating according to claim 1, characterized in that a spring (10) is sleeved outside the positioning pin (9), one end of the spring (10) contacts the positioning pin (9), and the other end of the spring (10) contacts the mounting seat (8).

9. A three-axis truss robot and control system for electroplating according to claim 1, characterized in that a rack (901) is arranged outside the positioning pin (9), a gear (14) is rotatably connected to the mounting seat (8), the gear (14) is in transmission engagement with the two racks (901), and a handle (1401) is arranged outside the gear (14).

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