Six-axis in-line servo robot

Abstract

This invention discloses a six-axis longitudinal servo manipulator, specifically relating to the field of manipulators. It includes a base, on which a transverse arch is fixedly connected. Two transverse slides are slidably connected to the transverse arch. Each transverse slide is equipped with a lateral drive assembly and a front-rear drive assembly. A primary arm and a secondary arm are slidably connected to the two transverse slides, respectively. The two lateral drive assemblies drive the two transverse slides to move on the transverse arch, and the two front-rear drive assemblies drive the primary and secondary arms to move along preset directions. Both the primary and secondary arms are equipped with up-down drive assemblies, and a primary arm arm is slidably connected to the primary arm. This invention, by setting two completely independent drive and execution units on a single transverse arch, enables a single device to simultaneously perform two different tasks or cover a wider working area, greatly improving the flexibility of the production line and adapting to multi-variety, variable-batch production modes.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and more specifically, to a six-axis longitudinal servo robotic arm. Background Technology

[0002] Six-axis servo robots are key equipment in automated production, especially in the field of injection molding. They are mainly used to automatically remove molded products from the mold and complete subsequent processes such as handling, placement, and embedding. Their core function is to replace manual labor, realize the automation, continuity, and efficiency of the production process, and play an important role in improving product quality consistency, ensuring production safety, and reducing labor costs.

[0003] Currently, mainstream injection molding part-removing robots generally adopt a single-arm structure or a track-type structure fixed to a single machine. Their functions are relatively simple, and their working range is strictly limited to preset fixed points and paths. However, as the manufacturing industry rapidly develops towards small-batch, multi-variety, and flexible production, the rigid layout and single function of these traditional robots are increasingly revealing obvious defects. When production tasks require multi-station collaboration or need to serve different machines, it is usually necessary to configure a robot independently for each station or machine. This not only leads to repeated investment in equipment and high costs, but also creates a dilemma of insufficient production line flexibility. At the same time, robots and their auxiliary stations added for specific functions occupy a large amount of valuable workshop floor and vertical space, making the production line layout long and crowded, which seriously limits the space for further improvement and optimization of production capacity. In addition, in multi-machine operation scenarios, the load of each robot is often uneven, resulting in uneven equipment idleness and busyness, making it difficult to effectively improve the overall equipment efficiency.

[0004] In summary, to achieve more efficient, compact, and flexible automated production, it is necessary to address the problems of fixed operating range, limited functionality, and difficulty in adapting to multi-station collaboration and flexible layout in existing technologies, so that robotic arms can better meet the demands of high-speed and high-precision automated production. Summary of the Invention

[0005] The six-axis longitudinal servo manipulator provided by this invention aims to solve the following problems: existing manipulators have fixed working ranges, limited functions, and are difficult to adapt to multi-station collaboration and flexible layout.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a six-axis longitudinal servo manipulator, comprising a base, a transverse arch fixedly connected to the base, two transverse slides slidably connected to the transverse arch, each of the two transverse slides being equipped with a lateral drive assembly and a front-rear drive assembly, a main arm pull arm and a secondary arm pull arm slidably connected to the two transverse slides respectively, the two lateral drive assemblies being used to drive the two transverse slides to move on the transverse arch respectively, the two front-rear drive assemblies being used to drive the main arm pull arm and the secondary arm pull arm to move along a preset direction respectively, and both the main arm pull arm and the secondary arm pull arm being equipped with up-down drive assemblies. The assembly consists of a main boom arm slidably connected to the main boom puller arm and a secondary boom arm slidably connected to the secondary boom puller arm. Two up and down drive assemblies are used to drive the main boom arm and the secondary boom arm to move in a preset direction, respectively. A side posture assembly is installed at the bottom of the main boom arm and an end effector 2 is installed at the bottom of the secondary boom arm. Guide frames are installed on the transverse arch, the main boom puller arm, the secondary boom puller arm, the main boom arm, and the secondary boom arm. A valve box is fixedly connected to the transverse slide plate. A transverse drag chain, left and right drag chains, and up and down drag chains are installed on the valve box. The transverse drag chains, left and right drag chains, and up and down drag chains are slidably connected to the corresponding guide frames.

[0007] In a preferred embodiment, the lateral drive assembly includes a servo motor fixedly connected to the lateral slide plate, a drive shaft fixedly connected to the output end of the servo motor, a gear fixedly connected to the drive shaft, and a rack meshing with one side of the gear. The drive shaft and the lateral slide plate are rotatably connected, the rack is fixedly connected to the lateral arch, and the servo motor is used to drive the drive shaft to rotate.

[0008] In a preferred embodiment, the front and rear drive assembly includes a servo motor two fixedly connected to the transverse slide plate, a gear two fixedly connected to the output end of the servo motor two via a shaft, and a rack two meshing with one side of the gear two. The two racks two are respectively fixedly connected to the main arm pull arm and the auxiliary arm pull arm, and the servo motor two is used to drive the gear two to rotate.

[0009] In a preferred embodiment, the up-down drive assembly includes two servo motors fixedly connected to the main arm and the auxiliary arm respectively, a drive wheel fixedly connected to the output end of the servo motors via a shaft, a belt sleeved on the drive wheel, and an auxiliary wheel sleeved on the belt. The two ends of the two belts are fixedly connected to the main arm and the auxiliary arm respectively. The servo motors are used to drive the drive wheel to rotate.

[0010] In a preferred embodiment, the side posture assembly includes a mounting bracket fixedly connected to the bottom of the front arm, an electric actuator fixedly connected to the mounting bracket, and an end effector rotatably connected to the output end of the electric actuator. The end effector is rotatably connected to the mounting bracket, and the electric actuator is used to drive the end effector to rotate.

[0011] In a preferred embodiment, a number of pressure sensors and damping components are installed on the transverse arch. The pressure sensors are used to detect the stress state of the transverse arch in real time and transmit the detection signal to an external controller for signal analysis, thereby controlling the damping components to generate a force opposite to that of the transverse arch.

[0012] In a preferred embodiment, the damping assembly includes a piezoelectric actuator fixedly connected to the transverse arch, a connecting rod connected to the output end of the piezoelectric actuator, two mass blocks fixedly connected to both ends of the connecting rod, and two slides fixedly connected to the transverse arch. The mass blocks and slides are slidably connected, and the piezoelectric actuator is used to drive the connecting rod to reciprocate.

[0013] In a preferred embodiment, two symmetrical cleaning wheels are provided on both sides of the gear one. The cleaning wheels are rotatably connected to the bottom of the transverse slide plate. A cleaning component is installed on the cleaning wheel. The cleaning component is used to drive the two cleaning wheels to rotate. The cleaning component includes a synchronous pulley one fixedly connected to the drive shaft, a synchronous belt sleeved on the synchronous pulley one, and two synchronous pulleys two sleeved on both ends of the synchronous belt. The synchronous pulleys two and the cleaning wheels are fixedly connected.

[0014] In a preferred embodiment, an emergency stop assembly is installed at the bottom of the transverse slide plate. The output end of the emergency stop assembly is connected to a friction block. Several guide rods are fixedly connected to the friction block. Several guide sleeves are fixedly connected to the bottom of the transverse slide plate. The guide rods and guide sleeves are slidably connected. The emergency stop assembly is used to drive the friction block to move along the guiding direction of the guide sleeves.

[0015] In a preferred embodiment, the emergency stop assembly includes an electric push rod two fixedly connected to the bottom of the horizontal sliding plate and a wedge block fixedly connected to the output end of the electric push rod two. The horizontal sliding plate and the friction block are both slidably connected to the wedge block, and the electric push rod two is used to drive the wedge block to move along a preset direction.

[0016] The beneficial effects of this invention are as follows: 1. This invention enables a single device to perform two different tasks simultaneously or cover a wider working area by setting two completely independent drive and execution units on a single horizontal arch. The two arms can be programmed and controlled independently, and their movement timing and paths do not interfere with each other. Tasks can be flexibly allocated according to production rhythm and process requirements, which greatly improves the flexibility of the production line and adapts to multi-variety and variable batch production modes.

[0017] 2. This invention adopts the design concept of "longitudinal movement" (i.e., moving along a long-stroke transverse arch), which enables the robot to move freely in a long strip-shaped working area. It can serve multiple tail-end stations of a single injection molding machine, or it can be designed to work between multiple injection molding machines arranged in space. This design upgrades the traditional "point-to-point" operation to "area coverage" operation, replacing the space occupation of multiple fixed machines with the mobility of one machine, making the production line layout more compact and reasonable, and significantly saving workshop space.

[0018] 3. This invention innovatively integrates an active vibration damping system based on pressure sensors and piezoelectric actuators to monitor the stress state of the arch beam in real time and actively output a reverse force to suppress vibration, thereby effectively compensating for the rigidity attenuation problem caused by the large span of the structure and ensuring the positioning accuracy and operational stability of the robot arm throughout its entire stroke range.

[0019] 4. This invention designs a synchronous self-cleaning structure for the key gear and rack transmission pair. Through the cleaning wheel driven by the transmission shaft, it can continuously and automatically clean the contaminants on the rack surface during the operation of the robot, keep the transmission interface clean, reduce abnormal wear and transmission noise, extend the service life of the core transmission components, and reduce maintenance frequency and cost.

[0020] 5. By adding an independent mechanical emergency stop component, this invention provides double insurance for emergency braking of the robotic arm at high speeds, significantly improving the safety and reliability of the equipment in response to emergencies and protecting the equipment and products. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 This is a schematic diagram of the valve box structure of the present invention.

[0023] Figure 3 This is a schematic diagram of the transverse arch structure of the present invention.

[0024] Figure 4 This is a schematic diagram of the shock absorption component structure of the present invention.

[0025] Figure 5 This is a schematic diagram of the side posture component structure of the present invention.

[0026] Figure 6 This is a schematic diagram of the transverse sliding plate structure of the present invention.

[0027] Figure 7 This is a schematic diagram of the cleaning wheel structure of the present invention.

[0028] Figure 8 This is a schematic diagram of the friction block structure of the present invention.

[0029] Figure 9 This is a schematic diagram of the positive arm pull-out arm structure of the present invention.

[0030] Figure 10 This is a schematic diagram of the normal arm structure of the present invention.

[0031] The attached diagram is labeled as follows: 1. Base; 2. Horizontal arch; 3. Horizontal slide plate; 401. Servo motor one; 402. Drive shaft; 403. Gear one; 404. Rack one; 5. Valve box; 601. Servo motor two; 602. Gear two; 603. Rack two; 7. Main boom pull arm; 8. Secondary boom pull arm; 901. Servo motor three; 902. Drive wheel; 903. Auxiliary wheel; 904. Belt; 10. Main boom arm; 11. Secondary boom arm; 1201. Mounting bracket; 1202. Electric push rod one; 1203. End effector one; 13. End effector two; 14. Guide frame; 15. Lateral cable chain; 16. Front and rear cable chains; 17. Upper and lower cable chains; 18. Pressure sensor; 1901. Piezoelectric actuator; 1902. Connecting rod; 1903. Mass block; 1904. Slide groove; 2001. Synchronous pulley one; 2002. Synchronous belt; 2003. Synchronous pulley two; 21. Cleaning wheel; 2201. Electric push rod two; 2202. Wedge block; 23. Friction block; 24. Guide rod; 25. Guide sleeve. Detailed Implementation

[0032] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0033] Refer to the instruction manual appendix Figures 1 to 10A six-axis longitudinal servo manipulator includes a base 1, on which a transverse arch 2 is fixedly connected. Two transverse slide plates 3 are slidably connected to the transverse arch 2. Each transverse slide plate 3 is equipped with a lateral drive assembly and a front-rear drive assembly. A primary arm puller 7 and a secondary arm puller 8 are slidably connected to each transverse slide plate 3. The two lateral drive assemblies drive the two transverse slide plates 3 to move on the transverse arch 2. The two front-rear drive assemblies drive the primary arm puller 7 and the secondary arm puller 8 to move in a preset direction. Both the primary arm puller 7 and the secondary arm puller 8 are equipped with up-down drive assemblies. A primary arm arm 10 is slidably connected to the primary arm puller 7. A secondary arm 11 is slidably connected to the main arm 8. Two upper and lower drive components are used to drive the main arm 10 and the secondary arm 11 to move in a preset direction. A side posture component is installed at the bottom of the main arm 10, and an end effector 13 is installed at the bottom of the secondary arm 11. Guide frames 14 are installed on the transverse arch 2, the main arm 7, the secondary arm 8, the main arm 10, and the secondary arm 11. A valve box 5 is fixedly connected to the transverse slide plate 3. A transverse drag chain 15, a left and right drag chain 16, and an upper and lower drag chain 17 are installed on the valve box 5. The transverse drag chain 15, the left and right drag chains 16, and the upper and lower drag chains 17 are slidably connected to the corresponding guide frames 14.

[0034] It should be noted that the base 1 serves as the supporting foundation for the entire robotic arm, providing an installation platform for the horizontal arch 2. The horizontal arch 2 is a steel truss structure, with precision linear guides installed on both sides of its top along its length to guide the two horizontal sliding plates 3 to move stably laterally. The bottom of the horizontal sliding plates 3 engages with the linear guides of the horizontal arch 2 via sliders, achieving low-friction reciprocating sliding. The main arm pull-out arm 7 and the auxiliary arm pull-out arm 8 are both hollow aluminum profile structures, slidably connected above the two horizontal sliding plates 3, supporting the main arm arm 10 and the auxiliary arm arm 11 and guiding their forward and backward movement. The main arm arm 10 and the auxiliary arm arm 11 are slidably connected to the vertical guides of the main arm pull-out arm 7 and the auxiliary arm pull-out arm 8, respectively, to achieve vertical lifting and guiding movements. The frame 14 is a U-shaped bracket made of bent steel plate, which is fixed to the side of each moving part. It has a groove inside that matches the contour of the cable chain to support and guide the bending direction of the cable chain. The valve box 5 is a sealed box made of sheet metal and fixed above the transverse slide plate 3. It integrates pneumatic control valve group and electrical wiring terminals to provide power and control signals to each actuator. The transverse cable chain 15, left and right cable chains 16 and up and down cable chains 17 are all high-strength engineering plastic chains with air pipes and cables running through them. They correspond to the three directions of movement: transverse, forward and backward, and up and down. One end of each chain is connected to the valve box 5, and the other end moves with the moving part and slides on the corresponding guide frame 14 to realize the transmission of energy and information to the moving part.

[0035] It is worth noting that the main arm 10 and the auxiliary arm 11 are both controlled by independent drive and control systems. They do not interfere with each other in terms of motion timing and action path, and can work completely independently. In actual production applications, the main arm 10 and the auxiliary arm 11 can be assigned to different workstations according to process requirements. For example, one can be responsible for picking up parts, and the other can be responsible for gate cutting or inlay placement, so as to complete multiple operations in parallel within the same work cycle, significantly improving production efficiency.

[0036] Refer to the instruction manual appendix Figure 4 and 7 The lateral drive assembly includes a servo motor 401 fixedly connected to the transverse slide plate 3, a drive shaft 402 fixedly connected to the output end of the servo motor 401, a gear 403 fixedly connected to the drive shaft 402, and a rack 404 meshing with one side of the gear 403. The drive shaft 402 and the transverse slide plate 3 are rotatably connected, and the rack 404 is fixedly connected to the transverse arch 2. The servo motor 401 is used to drive the drive shaft 402 to rotate.

[0037] It should be noted that the servo motor 401 is mounted above the horizontal slide plate 3, and its output shaft is fixed to the upper end of the transmission shaft 402. Its lower end is fixedly connected to the gear 403 via a flat key. The gear 403 precisely meshes with the rack 404 fixed to the side of the horizontal arch 2. The rack 404 is a segmented precision-ground rack, which is fastened to the mounting surface of the horizontal arch 2 by bolts. When the servo motor 401 receives a command to rotate, it sequentially drives the transmission shaft 402 and the gear 403 to rotate. Through the meshing action with the fixed rack 404, the rotational motion is converted into the precise linear motion of the horizontal slide plate 3 along the guide rail of the horizontal arch 2, thereby realizing the position control of the horizontal axis.

[0038] Refer to the instruction manual appendix Figure 9 The front and rear drive components include a servo motor 601 fixedly connected to the transverse slide plate 3, a gear 602 fixedly connected to the output end of the servo motor 601 via a shaft, and a rack 603 meshing with one side of the gear 602. The two racks 603 are fixedly connected to the main arm pulling arm 7 and the auxiliary arm pulling arm 8, respectively. The servo motor 601 is used to drive the gear 602 to rotate.

[0039] It should be noted that the servo motor 601 is mounted horizontally on the end face of the transverse slide plate 3, and its output shaft is connected to the mounting shaft of the gear 602. The rack 603 is a helical rack that matches the gear 602. It is precisely fixed to the side of the main arm pull arm 7 and the auxiliary arm pull arm 8 by screws. When the servo motor 601 rotates, it drives the gear 602 to rotate. The gear 602, through meshing with the rack 603, pushes the main arm pull arm 7 or the auxiliary arm pull arm 8 to make linear motion on the front and rear guide rails of the transverse slide plate 3, so as to realize the precise forward and backward movement of the pull arm.

[0040] Refer to the instruction manual appendix Figure 10 The up and down drive assembly includes two servo motors 901 that are fixedly connected to the main arm pull arm 7 and the auxiliary arm pull arm 8 respectively, a drive wheel 902 that is fixedly connected to the output end of the servo motor 901 via a shaft, a belt 904 that is sleeved on the drive wheel 902, and an auxiliary wheel 903 that is sleeved on the belt 904. The two ends of the two belts 904 are fixedly connected to the main arm arm 10 and the auxiliary arm arm 11 respectively. The servo motors 901 are used to drive the drive wheel 902 to rotate.

[0041] It should be noted that the servo motor 901 is installed at the end of the main arm puller 7 or the auxiliary arm puller 8. Its output shaft is connected to the drive wheel 902 via a key. The belt 904 is an industrial conveyor belt with built-in steel wire cord, which has good tensile strength and flexibility. Its inner tooth profile meshes with the main and auxiliary wheels. The two ends of the belt 904 are fixedly connected to the top of the main arm arm 10 or the auxiliary arm arm 11 via pressure plates. When the servo motor 901 drives the drive wheel 902 to rotate forward and backward, the belt 904 moves accordingly. Since the two ends of the belt 904 are fixed to the arm, the movement of the belt directly drives the main arm arm 10 or the auxiliary arm arm 11 to move up and down along the vertical guide rail on the puller arm. The auxiliary wheel 903 plays a role in tensioning and guiding, ensuring the smooth operation of the belt.

[0042] Refer to the instruction manual appendix Figure 9 The side posture assembly includes a mounting bracket 1201 fixedly connected to the bottom of the arm 10, an electric push rod 1202 fixedly connected to the mounting bracket 1201, and an end effector 1203 rotatably connected to the output end of the electric push rod 1202. The end effector 1203 is rotatably connected to the mounting bracket 1201, and the electric push rod 1202 is used to drive the end effector 1203 to rotate.

[0043] It should be noted that the mounting bracket 1201 is fixed to the lower end face of the main arm 10. The end effector 1203 is usually a pneumatic gripper or suction cup holder. Its rear is provided with a connecting ear that mates with the ear seat of the mounting bracket 1201. It is rotatably connected to the mounting bracket 1201 through a pin. At the same time, the end effector 1203 is rotatably connected to the output end of the electric push rod 1202 through a fisheye connector. When the push rod of the electric push rod 1202 extends or retracts, the drive arm pushes the end effector 1203 to swing around the pin of the mounting bracket 1201 within a certain angle range, so as to realize the 90-degree flip or posture adjustment of the product, i.e., the side posture action.

[0044] Refer to the instruction manual appendix Figure 4Several pressure sensors 18 and damping components are installed on the transverse arch 2. The pressure sensors 18 are used to detect the stress state of the transverse arch 2 in real time and transmit the detection signal to the external controller for signal analysis, thereby controlling the damping components to generate a force opposite to that of the transverse arch 2.

[0045] It should be noted that the pressure sensor 18 is a resistance strain gauge force sensor, which is uniformly distributed in the stress concentration area of ​​the horizontal arch 2 (near the middle and end support points) by embedding. It is used to sense the dynamic bending stress and vibration stress generated by the horizontal arch 2 when the moving parts accelerate and decelerate. The sensor converts the detected strain signal into an electrical signal and transmits it to the external dedicated motion controller in real time. The vibration suppression algorithm built into the controller analyzes and processes the signal, calculates the amplitude, frequency and phase of the current vibration, and generates a reverse control command. After receiving the command, the vibration damping component dynamically outputs a force with the opposite phase and equivalent amplitude to the current vibration of the horizontal arch 2, thereby realizing active vibration suppression and improving the operation stability and positioning accuracy of the robot.

[0046] Refer to the instruction manual appendix Figure 4 The shock absorption assembly includes a piezoelectric actuator 1901 fixedly connected to the transverse arch 2, a connecting rod 1902 connected to the output end of the piezoelectric actuator 1901, two mass blocks 1903 fixedly connected to both ends of the connecting rod 1902, and two slide grooves 1904 fixedly connected to the transverse arch 2. The mass blocks 1903 and slide grooves 1904 are slidably connected. The piezoelectric actuator 1901 is used to drive the connecting rod 1902 to reciprocate.

[0047] It should be noted that the piezoelectric actuator 1901 is a stacked piezoelectric ceramic actuator with millisecond-level response speed and micron-level displacement resolution. Its housing is rigidly fixed to the side of the transverse arch 2 by bolts. The middle part of the connecting rod 1902 is connected to the protruding end of the piezoelectric actuator 1901 by a flexible hinge, and the two ends are fixed to two mass blocks 1903 respectively. The bottom of the mass block 1903 is provided with a guide rail that cooperates with the slide groove 1904. The slide groove 1904 is fixed on the transverse arch 2 to constrain the movement direction of the mass block 1903. The controller drives the piezoelectric actuator 1901 to extend and retract at high frequency according to the signal of the pressure sensor 18, which drives the connecting rod 1902 and the mass block 1903 to reciprocate rapidly in the slide groove 1904. The inertial force generated by the movement is applied to the transverse arch 2 as a counterforce to counteract the original vibration.

[0048] Refer to the instruction manual appendix Figure 8Two symmetrical cleaning wheels 21 are provided on both sides of gear 403. The cleaning wheels 21 are rotatably connected to the bottom of the transverse slide plate 3. A cleaning component is installed on the cleaning wheel 21. The cleaning component is used to drive the two cleaning wheels 21 to rotate. The cleaning component includes a synchronous wheel 2001 fixedly connected to the transmission shaft 402, a synchronous belt 2002 sleeved on the synchronous wheel 2001, and two synchronous wheels 2003 sleeved at both ends of the synchronous belt 2002. The synchronous wheels 2003 and the cleaning wheels 21 are fixedly connected.

[0049] It should be noted that the cleaning wheel 21 is a cylindrical nylon brush roller with wear-resistant bristles on its surface. The bristles make slight contact with the tooth surfaces of gear 403 and rack 404. The two ends of the central shaft of the cleaning wheel 21 are supported by bearings at the bottom of the transverse slide plate 3. Synchronous pulley 2001 is fixed on the drive shaft 402, and synchronous pulley 2003 is fixed to the end of the central shaft of the cleaning wheel 21. The synchronous belt 2002 is tensioned between synchronous pulley 2001 and the two synchronous pulleys 2003. When the drive shaft 402 rotates with the servo motor 401, synchronous pulley 2001 rotates accordingly. The power is transmitted to the two synchronous pulleys 2003 through the synchronous belt 2002, thereby driving the two symmetrical cleaning wheels 21 to rotate synchronously with gear 403. The rotating cleaning wheel 21 continuously cleans the oil, debris and other impurities on the surface of rack 404, ensuring the cleanliness of the meshing between gear 403 and rack 404 and extending the life of the transmission components.

[0050] Refer to the instruction manual appendix Figure 7 and Figure 8 An emergency stop assembly is installed at the bottom of the horizontal sliding plate 3. The output end of the emergency stop assembly is connected to a friction block 23. Several guide rods 24 are fixedly connected to the friction block 23. Several guide sleeves 25 are fixedly connected to the bottom of the horizontal sliding plate 3. The guide rods 24 and the guide sleeves 25 are slidably connected. The emergency stop assembly is used to drive the friction block 23 to move along the guiding direction of the guide sleeves 25.

[0051] It should be noted that the emergency stop assembly is used to achieve emergency braking of the transverse slide plate 3 in abnormal situations. The friction block 23 is a rectangular block made of wear-resistant copper-based powder metallurgy material. Its lower surface is a plane that mates with the upper surface of the transverse arch 2 to generate friction braking force. There are four guide rods 24, which are symmetrically fixed at the four corners of the upper plane of the friction block 23. The guide sleeve 25 is installed in the mounting hole at the bottom of the transverse slide plate 3 and forms a precise sliding fit with the guide rods 24 to ensure the verticality and smoothness of the lifting and lowering movement of the friction block 23. After receiving the emergency stop signal, the emergency stop assembly drives its output end to move, pushing the friction block 23 to move down quickly, so that the lower surface of the friction block 23 presses against the upper surface of the transverse arch 2, and the transverse slide plate 3 is quickly braked by huge friction force.

[0052] Refer to the instruction manual appendix Figure 8The emergency stop assembly includes an electric push rod 2201 fixedly connected to the bottom of the horizontal sliding plate 3 and a wedge block 2202 fixedly connected to the output end of the electric push rod 2201. The horizontal sliding plate 3 and the friction block 23 are both slidably connected to the wedge block 2202. The electric push rod 2201 is used to drive the wedge block 2202 to move along a preset direction.

[0053] It should be noted that the electric push rod 2201 is horizontally fixed to the bottom of the transverse slide plate 3. The wedge block 2202 is a steel wedge-shaped slider with a slope with a limit groove at its front end. This slope slides and fits against the slope and slope protrusion corresponding to the top of the friction block 23, ensuring that the two are always connected. This can control the descent and ascent of the friction block 23. The top of the wedge block 2202 is provided with a V-shaped groove that slides and engages with the bottom guide rail of the transverse slide plate 3. During normal operation, the push rod of the electric push rod 2201 is in the retracted state, the slope of the wedge block 2202 is in a lower position where it engages with the slope of the friction block 23, and the friction block 23 is in the raised position, disengaged from the transverse arch 2. When emergency braking is required, the electric push rod 2201 extends instantly, driving the wedge block 2202 to move horizontally inward. Due to the action of the wedge slope, the friction block 23 is pushed to move vertically downward along the guide rod 24 and the guide sleeve 25, pressing the transverse arch 2 to generate braking.

[0054] Working principle: First, the servo motor 401 starts after receiving the control command, driving the transmission shaft 402 fixed thereto to rotate. The gear 403 fixed at the lower end of the transmission shaft 402 rotates accordingly. By meshing with the rack 404 fixed on the side of the transverse arch 2, the rotational motion is converted into the precise linear motion of the transverse slide plate 3 along the guide rail of the transverse arch 2, thereby realizing the position control of the transverse axis. After the horizontal slide plate 3 moves into place, the servo motor 601 installed on the end face of the horizontal slide plate 3 starts and drives the gear 602 to rotate. The gear 602 meshes with the rack 603 fixed on the side of the main arm pull arm 7 or the auxiliary arm pull arm 8, pushing the main arm pull arm 7 or the auxiliary arm pull arm 8 to make linear motion on the front and rear guide rails of the horizontal slide plate 3, so as to realize the precise advance and retreat of the pull shaft. When the pull arm reaches the predetermined position, the servo motor 901 installed at the end of the main pull arm 7 and the auxiliary pull arm 8 starts, driving the drive wheel 902 to rotate. The belt 904 sleeved on the drive wheel 902 and the auxiliary wheel 903 drives the main arm arm 10 or the auxiliary arm arm 11 to move up and down along the vertical guide rail on the pull arm. The auxiliary wheel 903 plays a tensioning and guiding role in the process. After the main arm 10 descends to the designated height, the electric push rod 1202 fixed on the mounting bracket 1201 at its bottom begins to move. When the push rod extends or retracts, it pushes the end effector 1203 to swing around the pin of the mounting bracket 1201 within a certain angle range through the fisheye connector, so as to realize the 90-degree flip or posture adjustment of the product, i.e., the side posture action. Meanwhile, the end effector 13 at the bottom of the auxiliary arm 11 directly performs the picking up of the part or other designated operations. Throughout the movement, the valve box 5, fixed to the side of the horizontal sliding plate 3, provides power and control signals to each actuator through its integrated pneumatic control valve group and electrical wiring terminals. The horizontal drag chain 15, left and right drag chains 16 and vertical drag chains 17, installed on the valve box 5, are equipped with air pipes and cables. They correspond to the three movement directions of horizontal, forward and backward, and vertical respectively. One end of each chain is connected to the valve box 5, and the other end moves with the moving parts and slides on the guide frame 14 fixed to the side of each moving part, realizing the transmission of energy and information to the moving parts. At the same time, the main arm 10 and the auxiliary arm 11 are controlled by independent drive and control systems. The two do not interfere with each other in terms of movement sequence and action path, and can be assigned to different workstations for parallel operation according to process requirements. In addition, during operation, the pressure sensor 18 embedded in the stress concentration area of ​​the transverse arch 2 senses the dynamic bending stress and vibration stress generated when the moving parts accelerate and decelerate in real time, and transmits the detection signal to the external controller. After analysis and processing, the controller sends a command to the damping component. At this time, the piezoelectric actuator 1901 fixed on the side of the transverse arch 2 extends and retracts at high frequency according to the command, driving the connecting rod 1902 connected to it and the mass blocks 1903 fixed at both ends of the connecting rod 1902 to move back and forth quickly in the slide 1904. The inertial force generated by the movement is applied to the transverse arch 2 as a counterforce to counteract the original vibration. At the same time, when the drive shaft 402 rotates with the servo motor 401, the synchronous pulley 2001 fixed on the drive shaft 402 rotates accordingly. The power is transmitted to the two synchronous pulleys 2003 through the synchronous belt 2002, driving the two symmetrical cleaning wheels 21 fixed to the synchronous pulleys 2003 to rotate synchronously with the gear 403. The bristles on the surface of the cleaning wheel 21 continuously clean the oil and debris on the surface of the rack 404 to ensure meshing cleanliness. When an emergency stop is required due to an abnormal situation, the electric push rod 2201, which is horizontally fixed to the bottom of the transverse slide plate 3, extends instantly, driving the wedge block 2202, which is fixed to its output end, to move horizontally inward. As the inclined surface of the wedge block 2202 slides and fits against the inclined surface of the top of the friction block 23, the friction block 23 is pushed to move vertically downward along the guide rod 24 fixed thereon and the guide sleeve 25 installed at the bottom of the transverse slide plate 3, so that the lower surface of the friction block 23 presses against the upper surface of the transverse arch 2, and the transverse slide plate 3 is quickly braked by the huge friction force.

[0055] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A six-axis longitudinal servo manipulator, characterized in that: Includes a base (1), on which a transverse arch (2) is fixedly connected. Two transverse slide plates (3) are slidably connected to the transverse arch (2). Each of the two transverse slide plates (3) is equipped with a lateral drive assembly and a front-rear drive assembly. A main arm pull arm (7) and a secondary arm pull arm (8) are slidably connected to the two transverse slide plates (3). The two lateral drive assemblies are used to drive the two transverse slide plates (3) to move on the transverse arch (2). The two front-rear drive assemblies are used to drive the main arm pull arm (7) and the secondary arm pull arm (8) to move in a preset direction. Both the main arm pull arm (7) and the secondary arm pull arm (8) are equipped with an up-down drive assembly. A main arm arm (10) is slidably connected to the main arm pull arm (7), and a secondary arm pull arm (8) is slidably connected to the main arm pull arm (7). There is a secondary arm (11), and two upper and lower drive components are used to drive the main arm (10) and the secondary arm (11) to move in a preset direction. The bottom of the main arm (10) is equipped with a side posture component, and the bottom of the secondary arm (11) is equipped with an end effector II (13). The horizontal arch (2), the main arm pull arm (7), the secondary arm pull arm (8), the main arm (10) and the secondary arm (11) are all equipped with guide frames (14). The horizontal slide plate (3) is fixedly connected to the valve box (5). The valve box (5) is equipped with a horizontal drag chain (15), a left and right drag chain (16) and an upper and lower drag chain (17). The horizontal drag chain (15), the left and right drag chains (16) and the upper and lower drag chains (17) are slidably connected to the corresponding guide frames (14).

2. The six-axis longitudinal servo manipulator according to claim 1, characterized in that: The lateral drive assembly includes a servo motor (401) fixedly connected to the lateral slide plate (3), a drive shaft (402) fixedly connected to the output end of the servo motor (401), a gear (403) fixedly connected to the drive shaft (402), and a rack (404) meshing with one side of the gear (403). The drive shaft (402) and the lateral slide plate (3) are rotatably connected, and the rack (404) is fixedly connected to the lateral arch (2). The servo motor (401) is used to drive the drive shaft (402) to rotate.

3. The six-axis longitudinal servo manipulator according to claim 1, characterized in that: The front and rear drive assembly includes a servo motor 2 (601) fixedly connected to the transverse slide plate (3), a gear 2 (602) fixedly connected to the output end of the servo motor 2 (601) via a shaft, and a rack 2 (603) meshing with one side of the gear 2 (602). The two racks 2 (603) are fixedly connected to the main arm pulling arm (7) and the auxiliary arm pulling arm (8) respectively. The servo motor 2 (601) is used to drive the gear 2 (602) to rotate.

4. The six-axis longitudinal servo manipulator according to claim 1, characterized in that: The up and down drive assembly includes two servo motors (901) fixedly connected to the main arm pull arm (7) and the auxiliary arm pull arm (8) respectively, a drive wheel (902) fixedly connected to the output end of the servo motor (901) via a shaft, a belt (904) sleeved on the drive wheel (902) and an auxiliary wheel (903) sleeved on the belt (904). The two ends of the two belts (904) are fixedly connected to the main arm arm (10) and the auxiliary arm arm (11) respectively. The servo motor (901) is used to drive the drive wheel (902) to rotate.

5. The six-axis longitudinal servo manipulator according to claim 1, characterized in that: The side posture assembly includes a mounting bracket (1201) fixedly connected to the bottom of the arm (10), an electric push rod (1202) fixedly connected to the mounting bracket (1201), and an end effector (1203) rotatably connected to the output end of the electric push rod (1202). The end effector (1203) is rotatably connected to the mounting bracket (1201), and the electric push rod (1202) is used to drive the end effector (1203) to rotate.

6. The six-axis longitudinal servo manipulator according to claim 1, characterized in that: Several pressure sensors (18) and damping components are installed on the transverse arch (2). The pressure sensors (18) are used to detect the stress state of the transverse arch (2) in real time and transmit the detection signal to the external controller for signal analysis, thereby controlling the damping components to generate a force opposite to that of the transverse arch (2).

7. The six-axis longitudinal servo manipulator according to claim 6, characterized in that: The damping assembly includes a piezoelectric actuator (1901) fixedly connected to the transverse arch (2), a connecting rod (1902) connected to the output end of the piezoelectric actuator (1901), two mass blocks (1903) fixedly connected to both ends of the connecting rod (1902), and two slides (1904) fixedly connected to the transverse arch (2). The mass blocks (1903) and slides (1904) are slidably connected. The piezoelectric actuator (1901) is used to drive the connecting rod (1902) to reciprocate.

8. The six-axis longitudinal servo manipulator according to claim 2, characterized in that: Two symmetrical cleaning wheels (21) are provided on both sides of the gear (403). The cleaning wheels (21) are rotatably connected to the bottom of the transverse slide plate (3). A cleaning component is installed on the cleaning wheel (21). The cleaning component is used to drive the two cleaning wheels (21) to rotate. The cleaning component includes a synchronous wheel (2001) fixedly connected to the drive shaft (402), a synchronous belt (2002) sleeved on the synchronous wheel (2001), and two synchronous wheels (2003) sleeved at both ends of the synchronous belt (2002). The synchronous wheels (2003) and the cleaning wheels (21) are fixedly connected.

9. The six-axis longitudinal servo manipulator according to claim 1, characterized in that: An emergency stop assembly is installed at the bottom of the horizontal sliding plate (3). The output end of the emergency stop assembly is connected to a friction block (23). Several guide rods (24) are fixedly connected to the friction block (23). Several guide sleeves (25) are fixedly connected to the bottom of the horizontal sliding plate (3). The guide rods (24) and the guide sleeves (25) are slidably connected. The emergency stop assembly is used to drive the friction block (23) to move along the guide sleeves (25).

10. The six-axis longitudinal servo manipulator according to claim 9, characterized in that: The emergency stop assembly includes an electric push rod (2201) fixedly connected to the bottom of the horizontal sliding plate (3) and a wedge block (2202) fixedly connected to the output end of the electric push rod (2201). The horizontal sliding plate (3) and the friction block (23) are slidably connected to the wedge block (2202). The electric push rod (2201) is used to drive the wedge block (2202) to move in a preset direction.

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