Gantry type multi-station manipulator action control mechanism

Abstract

The invention discloses a gantry type multi-station manipulator action control mechanism, and particularly relates to the technical field of manipulator control mechanisms, the gantry type multi-station manipulator action control mechanism comprises a moving table, a portal frame and an adjusting mechanism, the adjusting mechanism used for working at a single station or synchronously working at a plurality of stations is arranged on the surface of a fixing frame, and through the adjusting mechanism and a connecting mechanism, the gantry type multi-station manipulator action control mechanism is achieved. When two workpieces are machined, an adjusting rod and a connecting plate are driven to move backwards, a first clamping block is inserted into a clamping hole, meanwhile, the adjusting rod drives a fixing strip to move downwards through an inclined block, a limiting block is clamped on a second rack, a plurality of stations are connected together, and when one adjusting rod is moved, two workpieces can be machined at the same time; when the two adjusting rods are moved, three workpieces can be machined at the same time, when the three adjusting rods are moved, four workpieces can be machined at the same time, when the adjusting rods do not move, a single workpiece can be machined, meanwhile, the other stations cannot be started, and influences on workpiece machining during synchronous operation of the stations are avoided.

Description

Technical Field

[0001] The present application relates to the technical field of manipulator control mechanisms, and more specifically, to a gantry-type multi-station manipulator motion control mechanism. Background Art

[0002] Lathe processing is an indispensable processing method in mechanical processing. The gantry manipulator is a high-rigidity, large-range, multi-degree-of-freedom automated operating equipment, widely used in precision assembly, handling, welding, testing and other fields. Its core advantages lie in high load capacity, high repeatability and modular scalability. For example, the patent announcement number CN108621141B records a gantry-type multi-station manipulator motion control mechanism. Through the multi-station motion control component, it can increase the number of stations while achieving vertical and lateral position adjustment, and the station system can work synchronously and collaboratively, thereby improving work efficiency and reducing the labor intensity of staff.

[0003] However, when the workstations of the device are in use, multiple workstations need to be used synchronously. When processing a single workpiece, only one workstation is required to process the workpiece, and the remaining workstations may affect the processing of the workpiece when running synchronously.

[0004] Therefore, in order to solve the above problems, a gantry-type multi-station manipulator motion control mechanism is proposed. Summary of the Invention

[0005] The purpose of this application is to provide a gantry-type multi-station manipulator motion control mechanism.

[0006] The present application provides a gantry-type multi-station manipulator motion control mechanism that adopts the following technical solutions: A gantry-type multi-station manipulator motion control mechanism comprises a moving platform, a gantry and an adjustment mechanism, wherein the interior of the moving platform is connected to the gantry via a linear guide, the interior of the gantry is connected to a fixed frame via a linear guide, and the surface of the fixed frame is provided with an adjustment mechanism for a single station to work or multiple stations to work synchronously, the adjustment mechanism comprises a first drive motor, a first connecting rod, a fixed block, a first clamping block, a connecting frame, a second connecting rod and a second clamping block, one end of the interior of the fixed frame is fixedly connected to the first drive motor, one end of the first drive motor is fixedly connected to the first connecting rod, one end of the first connecting rod is fixedly connected to the first clamping block, multiple groups of connecting frames are fixedly connected to the surface of the fixed frame, multiple groups of the connecting frames are internally rotatably connected to the second connecting rod, one end of the second connecting rod is fixedly connected to the second clamping block, and the other end is fixedly connected to the first clamping block, the interior of the connecting frame is rotatably connected to the first connecting rod, the surfaces of the first and second connecting rods are fixedly connected to the fixed block, and the bottom of the fixed block is provided with a connecting mechanism for controlling the rotation of a single station or the synchronous rotation of multiple stations.

[0007] Preferably, the surface of the second clamping block is slidably connected to a bearing, a clamping hole is provided on the surface of the bearing, the first clamping block and the second clamping block are slidably connected inside the clamping hole, the surface of the bearing is rotatably connected to a connecting plate, one end of the connecting plate is fixedly connected to an adjusting rod, the inside of the connecting frame is fixedly connected to a first electric push rod, one end of the first electric push rod is fixedly connected to the adjusting rod, the bottom side of the adjusting rod is fixedly connected to a limiting rod, and the surface of the limiting rod is slidably connected to a paddle.

[0008] The cam is secured to the first gear and is secured to the second gear of the driver having a contact plate, the contact plate being fixedly mounted on the cam and having a contact plate formed between the first and second gears and the contact plate.

[0009] The cam is secured to the first and second guide rails and is adapted to engage said sliding rail when said sliding rail is engaged and to engage said guide rail when said rail is engaged.

[0010] Preferably, the first slide groove is provided with a guide cavity adapted to the outer contour of the first slider, and the inner surface of the guide cavity maintains a fitting clearance of 0.05-0.2 mm with the outer surface of the first slider, and the size of the fitting clearance is configured to allow the first slider to perform reciprocating linear motion along the axial direction of the first slide groove without jamming.

[0011] Preferably, the spring groove is provided with a cylindrical accommodating cavity matched with the outer circumferential surface of the second spring, and a radial fitting gap is formed between the inner wall of the accommodating cavity and the outer wall of the second spring, and the size range of the radial fitting gap is 0.08-0.25mm.

[0012] Preferably, the bottom of the rotating disk is provided with a replacement mechanism for facilitating the replacement of different processing parts, and the replacement mechanism includes a fixed sleeve, a T-slot, a T-block, a threaded hole, a threaded rod, a rotating block, a second drive motor, a drill bit and a suction cup. The bottom of the rotating disk is fixedly connected to a fixed sleeve, a T-slot is provided on the surface of the fixed sleeve, a T-block is slid inside the T-slot, a threaded hole is provided on the surface of the T-block, a threaded rod is threadedly connected to the inner wall of the threaded hole, one end of the threaded rod is fixedly connected to the rotating block, the inside of the T-block is fixedly connected to the second drive motor, and one end of the second drive motor is fixedly connected to the drill bit.

[0013] Preferably, a plurality of groups of friction blocks are provided on the surface of the rotating block.

[0014] Preferably, both ends of the mobile platform are provided with a moving mechanism for facilitating the movement of the device, and the moving mechanism includes a support block, a first groove, a jack, a support frame, a second groove and a universal wheel. The two ends of the mobile platform are fixedly connected to the support block, the bottom of the support block is provided with a first groove, the inside of the first groove is slidably connected to the jack, the bottom of the mobile platform is slidably connected to multiple groups of support frames, the surface of the support frame is provided with a second groove, the second groove cooperates with the mobile platform, and the bottom of the support frame is provided with multiple groups of universal wheels.

[0015] Preferably, a plurality of positioning blocks are fixedly connected to the surface of the mobile platform, and positioning holes are provided on the surfaces of the positioning blocks.

[0016] The technical effects and advantages of this application are: Compared with the existing technology, this gantry-type multi-station manipulator motion control mechanism starts to drive the adjusting rod and the connecting plate to move backward through the adjusting mechanism and the connecting mechanism, and drives the bearing through the connecting plate to insert the first clamping block into the clamping hole. At the same time, when the adjusting rod moves to the right, the fixed bar can be driven to move downward through the inclined block, so that the limit block can be clamped on the second rack, so that it connects multiple stations together. When one adjusting rod is moved, two workpieces can be processed simultaneously, when two adjusting rods are moved, three workpieces can be processed simultaneously, and when three adjusting rods are moved, four workpieces can be processed simultaneously. When the adjusting rod does not move, a single workpiece can be processed, and at the same time, the remaining stations will not be started, so as to avoid affecting the processing of the workpieces during synchronous operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of this application; Figure 2 This is a structure in which the mobile platform and the gantry are coordinated; Figure 3 This is a schematic structural diagram of the mobile mechanism of this application; Figure 4 This is a schematic diagram of the coordination between the gantry and the fixed frame for this application; Figure 5 This is a schematic diagram of the cooperation between the fixing bracket and the first driving motor of the present application; Figure 6 This is a schematic diagram of the structure of the adjustment mechanism of this application; Figure 7 This is a schematic diagram of the structure of the first connecting rod and the first clamping block in this application; Figure 8 This is a schematic diagram of the structure of the first clamping block and the clamping hole in this application; Figure 9 This is a schematic structural diagram of the connection mechanism of this application; Figure 10This is a schematic diagram of the structure of the protrusion and the first rack matching each other in this application; Figure 11 This is a schematic diagram of the structure of the adjustment rod and the inclined block in this application; Figure 12 This is a schematic diagram of the structure of the first connecting block and the second electric push rod in this application; Figure 13 This is a schematic diagram of the structure of the convex groove and the protrusion matching this application; Figure 14 This is a schematic diagram of the structure of the first chute and the first slider in the present application; Figure 15 This is a schematic diagram of the structure of the limit rod and the paddle in this application; Figure 16 This is a schematic diagram of the structure of the replacement mechanism of this application; Figure 17 This is a schematic diagram of the structure of the T-slot and T-block matching in this application; Figure 18 For this application Figure 10 A is an enlarged schematic diagram.

[0018] The accompanying drawings are marked as follows: 1. moving platform; 2. gantry; 3. fixed frame; 4. moving mechanism; 401. supporting block; 402. first groove; 403. jack; 404. supporting frame; 405. second groove; 406. universal wheel; 5. adjusting mechanism; 501. first driving motor; 502. first connecting rod; 503. fixed block; 504. first clamping block; 505. connecting frame; 506. second connecting rod; 507. second clamping block; 508. bearing; 509. clamping hole; 510. connecting plate; 511. adjusting rod; 512. first electric push rod; 513. limiting rod; 514. paddle; 6. connecting mechanism; 601. first connecting block; 602. second connecting block; 603. rotating disk; 604. gear; 605. Groove; 606. Projection; 607. First rack; 608. Second rack; 609. Second electric push rod; 610. Fixing plate; 611. First slide; 612. First spring; 613. First slider; 614. Fixing bar; 615. Second slide; 616. Second slider; 617. Bevel block; 618. Limit block; 619. Pin slot; 620. Limit slot; 621. Spring slot; 622. Second spring; 623. Pin; 7. Replacement mechanism; 701. Fixing sleeve; 702. T-slot; 703. T-block; 704. Threaded hole; 705. Threaded rod; 706. Rotating block; 707. Second drive motor; 708. Drill bit; 709. Suction cup; 8. Positioning block; 9. Positioning hole. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application. Example

[0020] like Figures 1 to 18 The shown gantry type multi-station manipulator motion control mechanism includes a moving platform 1, a gantry 2 and an adjusting mechanism 5. The interior of the moving platform 1 is connected to the gantry 2 through a linear guide rail, so that the gantry 2 can move left and right on the moving platform 1, and the interior of the gantry 2 is connected to the fixed frame 3 through a linear guide rail, so that the fixed frame 3 can move up and down on the gantry 2. The surface of the fixed frame 3 is provided with an adjusting mechanism 5 for a single station to work or multiple stations to work synchronously, so that a single station can work, and two, three or four stations can work synchronously according to needs. The adjusting mechanism 5 includes a first driving motor 501, a first connecting rod 502, a fixed block 503, a first clamping block 504, a connecting frame 505, a second connecting rod 506 and a second clamping block 507. One end of the interior of the fixed frame 3 is fixedly connected to the first driving motor 501. One end of the machine 501 is fixedly connected to the first connecting rod 502. Starting the first drive motor 501 can drive the first connecting rod 502 to rotate. One end of the first connecting rod 502 is fixedly connected to the first clamping block 504. The surface of the fixed frame 3 is fixedly connected to multiple groups of connecting frames 505. The internal rotation of the multiple groups of connecting frames 505 is connected to the second connecting rod 506. One end of the second connecting rod 506 is fixedly connected to the second clamping block 507, and the other end is fixedly connected to the first clamping block 504. The internal rotation of the connecting frame 505 is connected to the first connecting rod 502. The surfaces of the first connecting rod 502 and the second connecting rod 506 are fixedly connected to the fixed block 503. The bottom of the fixed block 503 is provided with a connecting mechanism 6 for controlling the rotation of a single workstation or the synchronous rotation of multiple workstations, so that a single workstation can be rotated, and two, three or four workstations can be rotated synchronously according to needs.

[0021] As a preferred embodiment, the surface of the second clamping block 507 is slidably connected to a bearing 508, and a clamping hole 509 is opened on the surface of the bearing 508. The first clamping block 504 and the second clamping block 507 are slidably connected inside the clamping hole 509. The bearing 508 can limit the first clamping block 504 and the second clamping block 507 through the clamping hole 509, so that when the first clamping block 504 and the second clamping block 507 rotate, the bearing 508 can be driven to rotate. The surface of the bearing 508 is rotatably connected to a connecting plate 510, one end of the connecting plate 510 is fixedly connected to an adjusting rod 511, and the interior of the connecting frame 505 is fixedly connected to a first electric push rod 512, one end of the first electric push rod 512 is fixedly connected to the adjusting rod 511. Starting the first electric push rod 512 can drive the adjusting rod 511 and the connecting plate 510 to move backward. A bottom side of the adjusting rod 511 is fixedly connected to a limiting rod 513, and a paddle 514 is slidably connected to the surface of the limiting rod 513.

[0022] As a preferred embodiment, the connecting mechanism 6 includes a first connecting block 601, a second connecting block 602, a rotating disk 603, a gear 604, a convex groove 605, a convex block 606, a first rack 607, a second rack 608, a second electric push rod 609, a fixed plate 610, a first slide 611, a first spring 612, a first slider 613, a fixed bar 614, a second slide 615, a second slider 616, an inclined block 617, a limit block 618, a pin slot 619, a limit slot 620, a spring slot 621, a second spring 622 and a pin 623. The bottom of one group of fixed blocks 503 is fixedly connected to the first connecting block 601, and the bottom of the other three groups of fixed blocks 503 are fixedly connected to the second connecting block 602. The bottom of the fixed block 503 is rotatably connected to the rotating disk 603. The interior of the first connecting block 601 and the second connecting block 602 is rotatably connected to the rotating disk 603. The surface of the rotating disk 603 A gear 604 is fixedly connected, and a convex groove 605 is provided on one side of the first connecting block 601 and multiple groups of second connecting blocks 602. A convex block 606 is slidably connected to the inner wall of the convex groove 605. The top of the convex block 606 is fixedly connected to the first rack 607 and the second rack 608, so that the first rack 607 and the second rack 608 can be inserted into the convex groove 605 through the convex block 606. The surface of the gear 604 is meshed with the first rack 607 and the second rack 608. When the first rack 607 and the second rack 608 move, the gear 604 can rotate. One end of the first connecting block 601 is fixedly connected to the second electric push rod 609, and one end of the second electric push rod 609 is fixedly connected to the fixed plate 610. One end of the fixed plate 610 is fixedly connected to the first rack 607. When the second electric push rod 609 is started, the second electric push rod 609 can drive the first rack 607 to move backward through the fixed plate 610.

[0023] As a preferred embodiment, a first sliding groove 611 is provided on one end surface of the first rack 607 and the second rack 608, a first spring 612 is provided on the inner wall of the first sliding groove 611, a first slider 613 is slidably connected to the inner wall of the first sliding groove 611, one end of the first spring 612 is fixedly connected to the first sliding groove 611, and the other end is fixedly connected to the first slider 613, the top of the first slider 613 is fixedly connected to the fixing bar 614, the interior of the fixing bar 614 is provided with a second sliding groove 615, the inner wall of the second sliding groove 615 is slidably connected to the second slider 616, the top of one end of the second slider 616 is connected to an inclined block 617, and the bottom of the other end is fixedly connected to a limiting block 618, one end of the limiting block 618 is provided with a latch groove 619, one end of the second rack 608 A limiting groove 620 is provided, and the inner wall of the limiting groove 620 cooperates with the limiting block 618. A spring groove 621 is provided on one side of the inner wall of the limiting groove 620, and a second spring 622 is provided on the inner wall of the spring groove 621. One end of the second spring 622 is fixedly connected to the spring groove 621, and the other end is fixedly connected to the bayonet 623. The outer wall of the bayonet 623 cooperates with the bayonet groove 619. When the fixing bar 614 moves downward, the first slider 613 can squeeze the first spring 612, and at the same time drive the limiting block 618 to be inserted into the limiting groove 620. At this time, the limiting block 618 will squeeze the bayonet pin 623 and the second spring 622. When the position is appropriate, the second spring 622 is reset to push the bayonet pin 623 to be inserted into the bayonet groove 619, so that the limiting block 618 can be stuck on the second rack 608.

[0024] As a preferred embodiment, the first slide groove 611 is provided with a guide cavity adapted to the outer contour of the first slider 613. The inner surface of the guide cavity and the outer surface of the first slider 613 maintain a fitting clearance of 0.05-0.2 mm. The size of the fitting clearance is configured to allow the first slider 613 to perform reciprocating linear motion along the axial direction of the first slide groove 611 without jamming. When the first slider 613 slides inside the first slide groove 611, the first slide groove 611 can limit the sliding of the first slider 613 to prevent the first slider 613 from shaking inside the first slide groove 611.

[0025] As a preferred embodiment, the spring groove 621 is provided with a cylindrical accommodating cavity that matches the outer circumferential surface of the second spring 622. A radial fitting gap is formed between the inner wall of the accommodating cavity and the outer wall of the second spring 622. The size range of the radial fitting gap is 0.08-0.25mm. The spring groove 621 will limit the second spring 622 to prevent the second spring 622 from shaking.

[0026] As a preferred embodiment, the bottom of the rotating disk 603 is provided with a replacement mechanism 7 for facilitating the replacement of different workpieces. The replacement mechanism 7 includes a fixed sleeve 701, a T-slot 702, a T-block 703, a threaded hole 704, a threaded rod 705, a rotating block 706, a second drive motor 707, a drill bit 708 and a suction cup 709. The bottom of the rotating disk 603 is fixedly connected to the fixed sleeve 701, the surface of the fixed sleeve 701 is provided with a T-slot 702, the internal sliding T-block 703 of the T-slot 702, the surface of the T-block 703 is provided with a threaded hole 704, the inner wall of the threaded hole 704 is threadedly connected to the threaded rod 705, and the threaded rod 709 is provided with a threaded hole 704. One end of 05 is fixedly connected to a rotating block 706, and the interior of the T-block 703 is fixedly connected to a second drive motor 707, and one end of the second drive motor 707 is fixedly connected to a drill bit 708. The T-block 703 is inserted into the T-slot 702, and the threaded rod 705 is screwed by the rotating block 706. The threaded rod 705 passes through the threaded hole 704 and is threadedly connected to the fixed sleeve 701, so that the T-block 703 can be fixed on the fixed sleeve 701. The second drive motor 707 is started to open a hole in the workpiece through the drill bit 708. At the same time, a suction cup 709 can be provided at the bottom of the T-block 703, and the workpiece can be grabbed by the suction cup 709.

[0027] As a preferred embodiment, a plurality of friction blocks are provided on the surface of the rotating block 706 , which can increase the friction force on the surface of the rotating block 706 and make it easier to twist the rotating block 706 .

[0028] As a preferred embodiment, a mobile mechanism 4 is provided at both ends of the mobile platform 1 to facilitate the movement of the device. The mobile mechanism 4 includes a support block 401, a first groove 402, a jack 403, a support frame 404, a second groove 405 and a universal wheel 406. The two ends of the mobile platform 1 are fixedly connected to the support block 401, the bottom of the support block 401 is provided with a first groove 402, the interior of the first groove 402 is slidably connected to the jack 403, the bottom of the mobile platform 1 is slidably connected to multiple groups of support frames 404, and the surface of the support frame 404 is provided with a second groove 405. 05, the second groove 405 cooperates with the mobile platform 1, and multiple sets of universal wheels 406 are provided at the bottom of the support frame 404. When the mobile platform 1 needs to be moved, the jack 403 is inserted into the first groove 402. The jack 403 is started to lift the mobile platform 1 through the support block 401, and the multiple sets of support frames 404 are placed at the bottom of the mobile platform 1. The jack 403 is then lowered to allow the mobile platform 1 to be inserted into the second groove 405. The mobile platform can be driven to move through the universal wheels 406, so that the mobile platform 1 can drive the gantry 2 to move to a suitable working position.

[0029] As a preferred embodiment, multiple groups of positioning blocks 8 are fixedly connected to the surface of the mobile platform 1, and positioning holes 9 are opened on the surface of the positioning blocks 8. When the mobile platform 1 drives the gantry 2 to move to a suitable working position, the bolts are tightened, and the bolts pass through the positioning holes 9 and are threadedly connected to the ground, so that the mobile platform 1 is fixed to the ground through the positioning blocks 8, thereby preventing the mobile platform 1 and the gantry 2 from shaking during use.

[0030] The working process of the present application is as follows: insert the jack 403 into the first groove 402, start the jack 403 to lift the mobile platform 1 through the support block 401, place the multiple sets of support frames 404 at the bottom of the mobile platform 1, and then lower the jack 403 so that the mobile platform 1 is inserted into the second groove 405. The universal wheel 406 can drive the mobile platform to move, so that the mobile platform 1 can drive the gantry 2 to move to a suitable working position, and then tighten the bolt. The bolt passes through the positioning hole 9 and is threadedly connected to the ground, so that the mobile platform 1 is fixed to the ground through the positioning block 8 to prevent the mobile platform 1 and the gantry 2 from shaking during use. Insert the T-block 703 into the T-slot 702, and screw the threaded rod 705 by rotating the block 706. The threaded rod 705 The threaded hole 704 is threadedly connected to the fixed sleeve 701, so that the T-block 703 can be fixed on the fixed sleeve 701. When processing a single workpiece, starting the first drive motor 501 can drive the fixed block 503 to rotate through the first connecting rod 502, so that it can adjust the position of the first connecting block 601, and then starting the second electric push rod 609 to drive the first rack 607 to move backward through the fixed plate 610, and the first rack 607 can drive the gear 604 to rotate, so that the gear 604 drives the replacement mechanism 7 to rotate through the rotating disk 603, so that a single workstation can be adjusted at multiple angles, so that a single workpiece can be drilled through the drill bit 708 or a single workpiece can be grabbed by the suction cup 709 for subsequent processing. When two, three or four workpieces need to be processed, the start-up drives the adjusting rod 511 and the connecting plate 510 to move backward, and drives the bearing 508 through the connecting plate 510, so that the first clamping block 504 is inserted into the clamping hole 509. At the same time, when the adjusting rod 511 moves to the right, it can drive the fixing bar 614 to move downward through the inclined block 617, so that the first slider 613 can squeeze the first spring 612, and at the same time drive the limit block 618 to be inserted into the limit groove 620. At this time, the limit block 618 will squeeze the bayonet 623 and the second spring 622. When the position is appropriate, the second spring 622 resets to push the bayonet 623 to be inserted into the bayonet groove 619, so that the limit block 618 can be clamped on the second rack 608, so that it can connect multiple workstations together. The first drive motor 501 drives the first connecting rod 502 to rotate, so that the first clamping block 504 at one end of the first connecting rod 502 can drive the second clamping block 507 and the second connecting rod 506 to rotate through the bearing 508, so as to drive the multiple sets of fixed blocks 503 to rotate, so as to adjust the positions of the first connecting block 601 and the multiple sets of second connecting blocks 602. The second electric push rod 609 is started to drive the first rack 607 to move backward through the fixed plate 610. At the same time, the first rack 607 pulls the second rack 608 to move backward through the fixed bar 614 and the limit block 618. The first rack 607 and the second rack 608 can drive the gear 604 to rotate, so that the gear 604 drives the replacement mechanism 7 to rotate through the rotating disk 603.Then, multiple workstations can be adjusted at multiple angles synchronously. When one adjusting rod 511 is moved, two workpieces can be processed simultaneously. When two adjusting rods 511 are moved, three workpieces can be processed simultaneously. When three adjusting rods 511 are moved, four workpieces can be processed simultaneously. When the adjusting rod 511 does not move, a single workpiece can be processed. At the same time, the remaining workstations will not be started, so as to avoid affecting the processing of the workpiece when the workstations are running synchronously. When it is necessary to reset to a single workstation, the first drive motor 501 and the second electric push rod 609 are started to adjust the fixed block 503 and the first rack 607 to their original The first electric push rod 512 is started again to drive the adjusting rod 511 to move forward, so that the paddle 514 can drive the oblique block 617 to move forward. When the oblique block 617 cannot move, the adjusting rod 511 moves forward, and the movably connected paddle 514 moves upward to restore the adjusting rod 511 to its original position. The movement of the oblique block 617 causes the second slider 616 to drive the limiting block 618 to move forward. The latch slot 619 on the surface of the limit block 618 moves away from the surface of the latch 623, allowing the first spring 612 to reset, thereby pushing the first slider 613 and the fixing bar 614 to move to their original positions, and the limit block 618 moves out of the limit slot 620, allowing multiple stations to be separated. The above is the working principle of the motion control mechanism of the gantry-type multi-station robot.

Claims

1. A gantry-type multi-station manipulator motion control mechanism, comprising a moving platform (1), a gantry (2) and an adjustment mechanism (5), wherein the interior of the moving platform (1) is connected to the gantry (2) via a linear guide rail, and the interior of the gantry (2) is connected to a fixed frame (3) via a linear guide rail, characterized in that: The surface of the fixing frame (3) is provided with an adjustment mechanism (5) for a single workstation to work or multiple workstations to work synchronously, the adjustment mechanism (5) comprising a first driving motor (501), a first connecting rod (502), a fixing block (503), a first clamping block (504), a connecting frame (505), a second connecting rod (506) and a second clamping block (507), one end of the interior of the fixing frame (3) is fixedly connected to the first driving motor (501), one end of the first driving motor (501) is fixedly connected to the first connecting rod (502), one end of the first connecting rod (502) is fixedly connected to the first clamping block (504), The surface of the fixing frame (3) is fixedly connected to a plurality of connecting frames (505), the internal rotation of the plurality of connecting frames (505) is connected to a second connecting rod (506), one end of the second connecting rod (506) is fixedly connected to a second clamping block (507), and the other end is fixedly connected to a first clamping block (504), the internal rotation of the connecting frame (505) is connected to a first connecting rod (502), the surfaces of the first connecting rod (502) and the second connecting rod (506) are fixedly connected to a fixing block (503), and the bottom of the fixing block (503) is provided with a connecting mechanism (6) for controlling the rotation of a single workstation or the synchronous rotation of multiple workstations.

2. A gantry-type multi-station robot motion control mechanism according to claim 1, characterized in that: The surface of the second clamping block (507) is slidably connected to a bearing (508), a clamping hole (509) is provided on the surface of the bearing (508), the inside of the clamping hole (509) is slidably connected to the first clamping block (504) and the second clamping block (507), the surface of the bearing (508) is rotatably connected to a connecting plate (510), one end of the connecting plate (510) is fixedly connected to an adjusting rod (511), the inside of the connecting frame (505) is fixedly connected to a first electric push rod (512), one end of the first electric push rod (512) is fixedly connected to the adjusting rod (511), a bottom side of the adjusting rod (511) is fixedly connected to a limiting rod (513), and a surface of the limiting rod (513) is slidably connected to a paddle (514).

3. The gantry-type multi-station robot motion control mechanism according to claim 1, characterized in that: The connecting mechanism (6) comprises a first connecting block (601), a second connecting block (602), a rotating disk (603), a gear (604), a convex groove (605), a convex block (606), a first rack (607), a second rack (608), a second electric push rod (609), a fixing plate (610), a first sliding groove (611), a first spring (612), a first slider (613), a fixing bar (614), a second sliding groove (615), a second slider (616), an inclined block (617), a limiting block (618), a latch groove (619), a limiting groove (620), a spring groove (621), a second spring (622) and a latch (623). The bottom of one group of the fixing blocks (503) is fixedly connected to the first connecting block (601), and the bottoms of the other three groups of the fixing blocks (503) are fixedly connected to the second connecting block (602). The bottoms of the fixing blocks (503) are rotating. The first connecting block (601) and the second connecting block (602) are rotatably connected to the rotating disk (603), and the surface of the rotating disk (603) is fixedly connected to a gear (604). A convex groove (605) is provided on one side of the first connecting block (601) and the plurality of groups of second connecting blocks (602). The inner wall of the convex groove (605) is slidably connected to a convex block (606), and the top of the convex block (606) is fixedly connected to a first rack (607) and a second rack (608). The surface of the gear (604) is meshedly connected to the first rack (607) and the second rack (608). One end of the first connecting block (601) is fixedly connected to a second electric push rod (609), and one end of the second electric push rod (609) is fixedly connected to a fixed plate (610). One end of the fixed plate (610) is fixedly connected to the first rack (607).

4. The gantry-type multi-station robot motion control mechanism according to claim 3, characterized in that: A first sliding groove (611) is provided on one end surface of the first rack (607) and the second rack (608), a first spring (612) is provided on the inner wall of the first sliding groove (611), a first slider (613) is slidably connected to the inner wall of the first sliding groove (611), one end of the first spring (612) is fixedly connected to the first sliding groove (611), and the other end is fixedly connected to the first slider (613), a fixing bar (614) is fixedly connected to the top of the first slider (613), a second sliding groove (615) is provided inside the fixing bar (614), a second slider (616) is slidably connected to the inner wall of the second sliding groove (615), and the second slider (616) is fixedly connected to the inner wall of the second sliding groove (615). ) is connected to an inclined block (617) at the top of one end, and fixedly connected to a limiting block (618) at the bottom of the other end, a latch groove (619) is provided at one end of the limiting block (618), and a limiting groove (620) is provided at one end of the second rack (608), the inner wall of the limiting groove (620) cooperates with the limiting block (618), a spring groove (621) is provided on one side of the inner wall of the limiting groove (620), and a second spring (622) is provided on the inner wall of the spring groove (621), one end of the second spring (622) is fixedly connected to the spring groove (621), and the other end is fixedly connected to a latch (623), and the outer wall of the latch (623) cooperates with the latch groove (619).

5. The gantry-type multi-station robot motion control mechanism according to claim 4, characterized in that: The first slide groove (611) is provided with a guide cavity adapted to the outer contour of the first slider (613), and the inner surface of the guide cavity maintains a fitting clearance of 0.05-0.2 mm with the outer surface of the first slider (613). The size of the fitting clearance is configured to allow the first slider (613) to perform reciprocating linear motion along the axial direction of the first slide groove (611) without jamming.

6. The gantry-type multi-station robot motion control mechanism according to claim 4, characterized in that: The spring groove (621) is provided with a cylindrical accommodating cavity that matches the outer circumferential surface of the second spring (622), and a radial fitting gap is formed between the inner wall of the accommodating cavity and the outer wall of the second spring (622), and the size range of the radial fitting gap is 0.08-0.25 mm.

7. The gantry-type multi-station robot motion control mechanism according to claim 3, characterized in that: The bottom of the rotating disk (603) is provided with a replacement mechanism (7) for facilitating replacement of different workpieces. The replacement mechanism (7) comprises a fixed sleeve (701), a T-slot (702), a T-block (703), a threaded hole (704), a threaded rod (705), a rotating block (706), a second drive motor (707), a drill bit (708) and a suction cup (709). The bottom of the rotating disk (603) is fixedly connected to the fixed sleeve (701). The surface of the fixed sleeve (701) is provided with a T-slot. A T-shaped slot (702) is provided, a sliding T-shaped block (703) is provided inside the T-shaped slot (702), a threaded hole (704) is provided on the surface of the T-shaped block (703), a threaded rod (705) is threadedly connected to the inner wall of the threaded hole (704), one end of the threaded rod (705) is fixedly connected to a rotating block (706), a second driving motor (707) is fixedly connected inside the T-shaped block (703), and one end of the second driving motor (707) is fixedly connected to a drill bit (708).

8. The gantry-type multi-station robot motion control mechanism according to claim 7, characterized in that: The surface of the rotating block (706) is provided with multiple groups of friction blocks.

9. The gantry-type multi-station robot motion control mechanism according to claim 1, characterized in that: Both ends of the mobile platform (1) are provided with a moving mechanism (4) for facilitating the movement of the device. The moving mechanism (4) comprises a support block (401), a first groove (402), a jack (403), a support frame (404), a second groove (405) and a universal wheel (406). Both ends of the mobile platform (1) are fixedly connected to the support block (401). The bottom of the support block (401) is provided with a first groove (402). The interior of the first groove (402) is slidably connected to the jack (403). The bottom of the mobile platform (1) is slidably connected to multiple groups of support frames (404). The surface of the support frame (404) is provided with a second groove (405). The second groove (405) cooperates with the mobile platform (1). The bottom of the support frame (404) is provided with multiple groups of universal wheels (406).

10. The gantry-type multi-station robot motion control mechanism according to claim 1, characterized in that: A plurality of positioning blocks (8) are fixedly connected to the surface of the mobile platform (1), and positioning holes (9) are provided on the surfaces of the positioning blocks (8).

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