ZR shaft mechanism of automatic material taking manipulator

Abstract

A ZR shaft mechanism of an automatic material taking mechanical arm is characterized in that a linear guide rail (9) is installed at the top of a ZR module bottom plate (12), a Z-axis lead screw (7) is installed at the top of the linear guide rail (9), and a sliding block connecting plate (6) is installed at the top of the Z-axis lead screw (7); the top of the ZR module bottom plate (12) is provided with a motor (10) through a motor frame, and the motor (10) is connected to the Z-axis lead screw (7) through a coupler (11); a motor (10) is installed on the top of the sliding block connecting plate (6) through a motor frame and connected to the rotating shaft (4). The structure is high in compatibility, products can be prevented from falling off through vacuum control, and the suction nozzles can be quickly replaced to be compatible with taking and placing of different products.

Description

TECHNICAL FIELD

[0001] The application relates to an automatic material taking manipulator ZR shaft mechanism BACKGROUND

[0002] The application relates to an automatic product loading and unloading suction mechanism. In particular, the application relates to a mechanism for automatically sucking products such as film materials and rotating the products by an angle to load and unload the products, which can effectively prevent the products from falling, detect the pressure of the products during loading and unloading, and has high compatibility.

[0003] Although the automatic product loading and unloading suction mechanism commonly used in the market can grasp the film products, the mechanism cannot be compatible to directly rotate the products by an angle after the products are taken, and cannot realize the pressure feedback function, so that the production efficiency is low and the practicability is poor. SUMMARY

[0004] In order to solve the problems in the prior art, the application provides an automatic material taking manipulator ZR shaft mechanism, which realizes the function of flexibly grasping products, and overcomes the defect that ordinary mechanisms cannot grasp the products during loading and unloading and need to take the products and rotate the products. The mechanism is specially developed and can stably grasp the products and press the products to be flat, so that the technical difficulty that the pressure positioning of the next process can completely position the products is solved. Meanwhile, the suction mechanism has high compatibility and can suck different products under the condition that the suction heads are quickly replaced. In addition, the pressure sensor can detect the loading and unloading pressure, and the practicability is high.

[0005] The application adopts the technical scheme to solve the technical problems: The automatic material taking manipulator ZR shaft mechanism comprises an R shaft angular contact bearing 1, a sealing ring 2, an R shaft rotation sensor 3, a rotating shaft 4, a fixed nut 5, a sliding block connecting plate 6, a Z shaft lead screw 7, a Z shaft limit sensor 8, a linear guide rail 9, a motor 10, a shaft coupling 11 and a ZR module bottom plate 12. The top of the ZR module bottom plate 12 is provided with the linear guide rail 9, the top of the linear guide rail 9 is provided with the Z shaft lead screw 7, and the top of the Z shaft lead screw 7 is provided with the sliding block connecting plate 6. The top of the ZR module bottom plate 12 is provided with the motor 10 through a motor bracket, and the motor 10 is connected to the Z shaft lead screw 7 through the shaft coupling 11. The top of the sliding block connecting plate 6 is provided with the motor 10 through a motor bracket, and the motor 10 is connected to the rotating shaft 4.

[0006] The application also has the following additional technical features: As further specific optimization of the technical scheme of the application, the two sides of the rotating shaft 4 are provided with the R shaft angular contact bearing 1 and the sealing ring 2.

[0007] As further specific optimization of the technical scheme of the application, the top of one side of the rotating shaft 4 is provided with the R shaft rotation sensor 3.

[0008] As the further specific optimization of the technical scheme of the present application, the Z-axis limit sensor 8 is installed between the linear guide rail 9 and the Z-axis screw rod 7.

[0009] As the further specific optimization of the technical scheme of the present application, the guiding assembly is further included, the guiding assembly comprises a guiding slider 21, a pressure sensor 22, a buffer spring 23 and a suction nozzle mounting plate 24, wherein the guiding slider 21 is mounted at the front part of the suction nozzle mounting plate 24, the buffer spring 23 is mounted at the outside of the guiding slider 21, and the pressure sensor 22 is mounted at the rear part of the buffer spring 23.

[0010] As the further specific optimization of the technical scheme of the present application, the elastic mechanism assembly is further included, the elastic mechanism assembly comprises a Z-axis screw rod 31, an R-axis air passing hollow pipe 32, a servo motor 33 and an R-axis screw rod 34, wherein the servo motor 33 is mounted at the top side of the mounting plate, the output shaft of the servo motor 33 is connected to the Z-axis screw rod 31, the Z-axis screw rod 31 is mounted at the top of the R-axis air passing hollow pipe 32, and the R-axis screw rod 34 is mounted at one side of the R-axis air passing hollow pipe 32.

[0011] As the further specific optimization of the technical scheme of the present application, the vacuum suction mechanism assembly is further included, the vacuum suction mechanism assembly comprises a rubber-coated suction nozzle 41 and a suction nozzle body 42, and the rubber-coated suction nozzle 41 is mounted at one end of the suction nozzle body 42.

[0012] Compared with the prior art, the present application has the following advantages: The automatic material taking manipulator ZR-axis mechanism has the functions of Z-axis up and down and R-axis rotation, can realize elastic suction of products, and achieves the purpose of flexible suction of products.

[0013] The mechanism has simple structure, small overall volume, convenient operation and greatly enhanced practicability.

[0014] The structure has strong compatibility, can effectively prevent the products from falling through vacuum control, and can quickly replace the suction nozzle, so as to be compatible with taking and placing of different products and meet diversified production requirements. DETAILED DESCRIPTION OF DRAWINGS

[0015] Figure 1 FIG. 1 is a structural schematic diagram of an automatic up and down material suction assembly of the present application; Figure 2 FIG. 3 is a structural schematic diagram of a guiding assembly of the present application; Figure 3 FIG. 4 is a structural schematic diagram of an elastic mechanism assembly of the present application; Figure 4 FIG. 5 is a structural schematic diagram of a vacuum suction mechanism assembly of the present application.

[0016] Explanation of reference signs: 1-R shaft angular contact bearing; 2-sealing ring; 3-R shaft rotation sensor; 4-rotary shaft; 5-fixing nut; 6-sliding block coupling plate; 7-Z shaft screw; 8-Z shaft limit sensor; 9-linear guide rail; 10-motor; 11-coupling; 12-ZR module base plate. DETAILED DESCRIPTION

[0017] The exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0018] The ZR axis mechanism of the automatic material taking manipulator comprises an R shaft angular contact bearing 1, a sealing ring 2, an R shaft rotation sensor 3, a rotary shaft 4, a fixing nut 5, a sliding block coupling plate 6, a Z shaft screw 7, a Z shaft limit sensor 8, a linear guide rail 9, a motor 10, a coupling 11 and a ZR module base plate 12.

[0019] Figure 1 It is a structural schematic diagram of the automatic feeding and discharging suction assembly of the present application, which shows the structural layout of the whole mechanism, including the positional relationship of each main component, such as the mutual positions of the ZR module base plate 12, the linear guide rail 9, the Z shaft screw 7, the sliding block coupling plate 6, the rotary shaft 4, etc., which helps to intuitively understand the overall architecture of the mechanism.

[0020] Figure 2 It is a structural schematic diagram of the guiding assembly of the present application, which presents in detail the connection relationship and position distribution of the guiding slider 21, the pressure sensor 22, the buffer spring 23 and the suction nozzle mounting plate 24 in the guiding assembly, facilitating the understanding of the specific structure of the guiding assembly and how it realizes the functions of stable suction and pressure detection.

[0021] Figure 3 It is a structural schematic diagram of the elastic mechanism assembly of the present application, which clearly shows the arrangement of the Z shaft screw 31, the R shaft air passing hollow pipe 32, the servo motor 33 and the R shaft screw 34 in the elastic mechanism assembly, facilitating the understanding of how the elastic mechanism assembly realizes the functions of elastic suction and precise control.

[0022] Figure 4 It is a structural schematic diagram of the vacuum suction mechanism assembly of the present application, which clearly shows the connection method of the rubber-coated suction nozzle 41 and the suction nozzle body 42 in the vacuum suction mechanism assembly, facilitating the understanding of how the vacuum suction mechanism assembly realizes the functions of firm suction of products and quick replacement of suction nozzles.

[0023] The top of the ZR module base plate 12 is provided with a motor 10 through a motor bracket, and the motor 10 is connected to the Z-axis screw rod 7 through a shaft coupling 11; the top of the sliding block connecting plate 6 is provided with a motor 10 through a motor bracket, and the motor 10 is connected to the rotating shaft 4. The rotating shaft 4 is provided with an R-axis angular contact bearing 1 and a sealing ring 2 on both sides. The top of one side of the rotating shaft 4 is provided with an R-axis rotation sensor 3.

[0024] The automatic material taking manipulator ZR axis mechanism further comprises a guide assembly, the guide assembly comprising a guide sliding block 21, a pressure sensor 22, a buffer spring 23 and a suction nozzle mounting plate 24, wherein the front part of the suction nozzle mounting plate 24 is provided with the guide sliding block 21, the outside of the guide sliding block 21 is provided with the buffer spring 23, and the rear part of the buffer spring 23 is provided with the pressure sensor 22. The setting of the guide assembly can keep the suction nozzle stable during the movement of the mounting plate, and the cooperation of the buffer spring and the pressure sensor can detect the pressure of the sucked product, further improving the stability and accuracy of the material taking.

[0025] The automatic material taking manipulator ZR axis mechanism further comprises an elastic mechanism assembly, the elastic mechanism assembly comprising a Z-axis screw rod 31, an R-axis air passing hollow pipe 32, a servo motor 33 and an R-axis screw rod 34; wherein: the top side of the mounting plate is provided with the servo motor 33, the output shaft of the servo motor 33 is connected to the Z-axis screw rod 31, the top of the Z-axis screw rod 31 is provided with the R-axis air passing hollow pipe 32, and one side of the R-axis air passing hollow pipe 32 is provided with the R-axis screw rod 34. The setting of the elastic mechanism assembly enables the mechanism to have a certain elasticity when sucking the product, so as to adapt to products of different shapes and sizes, improving the compatibility and practicality of the mechanism. The driving of the servo motor 33 enables the Z-axis screw rod 31 and the R-axis screw rod 34 to accurately control the sucking and rotating of the product, further improving the accuracy and stability of the material taking.

[0026] The automatic material taking manipulator ZR axis mechanism further comprises a vacuum suction mechanism assembly, the vacuum suction mechanism assembly comprising a rubber-coated suction nozzle 41 and a suction nozzle body 42, and the suction nozzle body 42 is provided with the rubber-coated suction nozzle 41 at one end. The setting of the vacuum suction mechanism assembly enables the mechanism to firmly grasp the product through vacuum suction, avoiding the falling of the product during taking and placing, improving the stability and safety of the material taking. The design of the rubber-coated suction nozzle 41 increases the friction between the suction nozzle and the product, further improving the firmness of the suction. At the same time, the combination of the suction nozzle body 42 and the rubber-coated suction nozzle 41 enables the mechanism to quickly replace the suction nozzle to adapt to products of different shapes and sizes, improving the compatibility and flexibility of the mechanism.

[0027] The mechanism installation and component connection of the automatic material taking manipulator ZR axis mechanism are as follows: According to the design requirements, the ZR module base plate 12 is used as a basic support component, and a linear guide rail 9 is accurately installed on the top of the ZR module base plate 12 to ensure that the linear guide rail 9 is firmly installed and the levelness meets the requirements. Then, a Z-axis lead screw 7 is installed on the top of the linear guide rail 9, and the Z-axis lead screw 7 is kept parallel to the linear guide rail 9 and the transmission is smooth. A sliding block connecting plate 6 is installed on the top of the Z-axis lead screw 7 to ensure that the sliding block connecting plate 6 is tightly connected with the Z-axis lead screw 7 and can move up and down with the rotation of the Z-axis lead screw 7.

[0028] A motor 10 is installed on the top of the ZR module base plate 12 through a motor bracket, and a shaft coupling 11 is used to reliably connect the output shaft of the motor 10 with the Z-axis lead screw 7, so as to ensure that the motor 10 can effectively drive the Z-axis lead screw 7 to rotate. Another motor 10 is installed on the top of the sliding block connecting plate 6 through a motor bracket, and the output shaft of the motor 10 is connected with the rotating shaft 4, so that the rotating shaft 4 can rotate under the drive of the motor 10.

[0029] An R-axis angular contact bearing 1 and a sealing ring 2 are installed on both sides of the rotating shaft 4, so that the R-axis angular contact bearing 1 provides stable radial and axial support for the rotating shaft 4, and the sealing ring 2 seals the space around the rotating shaft 4 to prevent foreign matter from entering. An R-axis rotation sensor 3 is installed on the top of one side of the rotating shaft 4 to ensure that the R-axis rotation sensor 3 can accurately monitor the rotation angle of the rotating shaft 4. A Z-axis limit sensor 8 is installed between the linear guide rail 9 and the Z-axis lead screw 7, so that it can accurately detect the moving position of the Z-axis lead screw 7.

[0030] For the guide assembly, a guide slider 21 is installed at the front of the suction nozzle mounting plate 24, a buffer spring 23 is sleeved outside the guide slider 21, and a pressure sensor 22 is installed at the rear of the buffer spring 23, so that the guide assembly can realize stable guidance, buffering and pressure detection functions during the product suction process.

[0031] For the elastic mechanism assembly, a servo motor 33 is installed on the top of one side of the mounting plate, the output shaft of the servo motor 33 is connected with a Z-axis lead screw 31, an R-axis air passing hollow pipe 32 is installed on the top of the Z-axis lead screw 31, and an R-axis lead screw 34 is installed on one side of the R-axis air passing hollow pipe 32, so that the elastic mechanism assembly can realize elastic suction and accurate control.

[0032] For the vacuum suction mechanism assembly, a rubber-coated suction nozzle 41 is installed at one end of a suction nozzle body 42, so that the vacuum suction mechanism assembly can firmly grasp the product through the vacuum suction force, and the suction nozzle can be quickly replaced as needed.

[0033] Operation method of the automatic material taking manipulator ZR axis mechanism: Position adjustment: In practical applications, when the product needs to be sucked, first start the motor 10 installed on the ZR module base plate 12, the motor 10 drives the Z-axis screw 7 to rotate through the shaft coupling 11, since the Z-axis screw 7 is connected with the slide block connecting plate 6, and the slide block connecting plate 6 can slide on the linear guide rail 9, thus driving the slide block connecting plate 6 to move up and down on the linear guide rail 9, and then adjusting the position of the suction nozzle, so that the suction nozzle can reach the specified position of the product.

[0034] Product suction: After the suction nozzle reaches the specified position, start the vacuum suction mechanism assembly, contact the product surface through the rubber-coated suction nozzle 41, and firmly grasp the product using the vacuum suction force. During the suction process, the friction between the rubber-coated suction nozzle 41 and the product and the vacuum suction force work together to ensure that the product is stably grasped and avoids falling.

[0035] Angle rotation: After the product is grasped, if angle adjustment of the product is needed, start the motor 10 installed on the slide block connecting plate 6, which drives the rotating shaft 4 to rotate, thus driving the grasped product to rotate. At this time, the R-axis rotation sensor 3 monitors the rotation angle of the rotating shaft 4 in real time and feeds back the angle information to the control system. The control system accurately controls the rotation of the motor 10 according to the pre-set angle requirement, ensuring that the product can rotate according to the pre-set angle to meet the requirements of the subsequent production process for the product angle.

[0036] Pressure detection and control: During the process of sucking the product, the guide assembly plays an important role. The guide slide block 21 smoothly slides on the linear guide rail, ensuring the stability of the suction nozzle during the movement of the mounting plate. The buffer spring 23 plays a buffering role when the suction nozzle contacts the product, avoiding rigid collision between the suction nozzle and the product, which may cause damage to the product. At the same time, the pressure sensor 22 detects the pressure of sucking the product in real time and feeds back the pressure signal to the control system. When the pressure exceeds the pre-set value, the pressure sensor 22 will timely send an alarm signal, and the control system will receive the alarm signal and take corresponding measures, such as adjusting the position of the suction nozzle or the size of the suction force, to ensure that the product will not be damaged by excessive pressure during the suction process, thereby improving the stability and accuracy of material taking.

[0037] Elastic adaptation: The elastic mechanism assembly also plays a key role in the entire material taking process. The servo motor 33 drives the Z-axis screw 31 and the R-axis screw 34, so that the suction nozzle can have a certain elasticity when sucking the product. When encountering products of different shapes and sizes, the elastic mechanism assembly can automatically adjust the position and angle of the suction nozzle according to the specific circumstances of the product, thereby adapting to the shape changes of the product, reducing the damage to the product during the suction process, and improving the intact rate of the product. At the same time, this elastic suction method also greatly improves the compatibility of the mechanism, making it able to handle multiple different types of products.

[0038] Safety protection: the Z-axis limit sensor 8 monitors the moving position of the Z-axis screw rod 7 in real time, when the moving of the Z-axis screw rod 7 exceeds the set working range, the Z-axis limit sensor 8 immediately sends a signal, and the control system receives the signal and quickly stops the operation of the motor 10, preventing the suction nozzle from exceeding the working range, avoiding equipment damage or safety accidents caused by excessive movement, and ensuring the safety of operation.

[0039] In summary, the automatic material taking manipulator ZR axis mechanism provided by the present application has the advantages of simple structure, small size, easy operation, strong compatibility and strong practicality. By adopting advanced technical means such as elastic suction and vacuum suction, the mechanism can firmly grasp products of different shapes and sizes, effectively avoiding product dropping and damage during taking and placing. At the same time, by real-time monitoring of key parameters such as rotation angle, moving position and pressure, the mechanism can ensure the accuracy and safety of material taking, and has a wide application prospect in automatic production line, which can significantly improve production efficiency and product quality.

[0040] In summary, the automatic material taking manipulator ZR axis mechanism provided by the present application has the advantages of simple structure, small size, easy operation, strong compatibility and strong practicality. By adopting advanced technical means such as elastic suction and vacuum suction, the mechanism can firmly grasp products of different shapes and sizes, effectively avoiding product dropping and damage during taking and placing. At the same time, by real-time monitoring of key parameters such as rotation angle, moving position and pressure, the mechanism can ensure the accuracy and safety of material taking, and has a wide application prospect in automatic production line, which can significantly improve production efficiency and product quality.

[0041] The above detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the present application.

Claims

1. A ZR axis mechanism of an automatic pick-up robot, characterized by: It includes R-axis angular contact bearing (1), sealing ring (2), R-axis rotation sensor (3), rotating shaft (4), fixed nut (5), slider coupling plate (6), Z-axis screw (7), Z-axis limit sensor (8), linear guide (9), motor 10, coupling (11) and ZR module bottom plate (12); wherein: the top of ZR module bottom plate (12) is provided with linear guide (9), the top of linear guide (9) is provided with Z-axis screw (7), the top of Z-axis screw (7) is provided with slider coupling plate (6); the top of ZR module bottom plate (12) is provided with motor (10) through motor bracket, motor (10) is connected to Z-axis screw (7) through coupling (11); the top of slider coupling plate (6) is provided with motor (10) through motor bracket, motor (10) is connected to rotating shaft (4).

2. The automatic pick-up robot ZR axis mechanism according to claim 1, characterized in that: The two sides of rotating shaft (4) are provided with R-axis angular contact bearing (1) and sealing ring (2).

3. The ZR axis mechanism of the automatic pick-up robot hand according to claim 1, characterized in that: The top of one side of rotating shaft (4) is provided with R-axis rotation sensor (3).

4. The ZR axis mechanism of the automatic pick-up robot hand according to claim 1, characterized in that: Z-axis limit sensor (8) is installed between linear guide (9) and Z-axis screw (7).

5. The ZR axis mechanism of the automatic pick-up robot hand according to claim 1, characterized in that: It also includes a guide assembly, which includes a guide slider (21), a pressure sensor (22), a buffer spring (23), and a suction nozzle mounting plate (24), wherein the front of the suction nozzle mounting plate (24) is provided with a guide slider (21), the outside of the guide slider (21) is provided with a buffer spring (23), and the rear of the buffer spring (23) is provided with a pressure sensor (22).

6. The ZR axis mechanism of the automatic pick-up robot hand according to claim 1, characterized in that: It also includes an elastic mechanism assembly, which includes a Z-axis screw (31), an R-axis air passing hollow pipe (32), a servo motor (33), and an R-axis screw (34); wherein: the top of one side of the mounting plate is provided with a servo motor (33), the output shaft of the servo motor (33) is connected to the Z-axis screw (31), the top of the Z-axis screw (31) is provided with an R-axis air passing hollow pipe (32), and one side of the R-axis air passing hollow pipe (32) is provided with an R-axis screw (34).

7. The ZR axis mechanism of the automatic pick-up robot hand according to claim 1, characterized in that: It also includes a vacuum suction mechanism assembly, which includes a rubber-coated suction nozzle (41) and a suction nozzle body (42), and the rubber-coated suction nozzle (41) is installed at one end of the suction nozzle body (42).

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