Coordinate manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a coordinate manipulator. The X-axis inner telescopic pipe is arranged in the X-axis outer telescopic pipe in a sleeved mode, the front end and the rear end of the X-axis inner telescopic pipe are connected with the supporting plate mechanism through synchronous belt assemblies, and synchronous stretching and retracting of the X-axis inner telescopic pipe are achieved by driving the X-axis outer telescopic pipe. A first driving assembly used for driving the telescopic mechanism to stretch out and draw back is installed on one plate face of the Z-axis sliding table plate, and a second driving assembly used for driving the Z-axis sliding table plate to move up and down along the rack unit is installed on the other plate face of the Z-axis sliding table plate. And the rotatable manipulator is mounted at the extending end of the telescopic mechanism and is used for grabbing a workpiece and driving a gripper mounted on the rotatable manipulator to rotate by + / -180 degrees. The X-axis inner telescopic pipe can stretch out and draw back synchronously only by driving the X-axis outer telescopic pipe, rapid stretching out and drawing back are achieved, long-distance stretching out and drawing back can be achieved through short-distance driving, the equipment response time is shortened, efficiency is improved, and the device can be suitable for occasions where a rotatable mechanical arm grabs objects at different distances and occupies small space.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a coordinate manipulator. Background Art

[0002] With the development of automation technology, the requirements for equipment are getting higher and higher. The movement of equipment in a single direction not only takes up space, but also increases costs and makes equipment maintenance difficult. The method of stacking multiple sets of equipment to achieve product transfer can no longer meet the use needs. In addition, the design length of the existing manipulator depends on the use length of the equipment. For compact space and light load occasions, it takes up a lot of space, has high requirements for transmission components, and has a slow response speed. Summary of the invention

[0003] The technical problem to be solved by the present invention is: in order to solve the problems existing in the prior art in the above-mentioned background technology, a coordinate manipulator with a two-stage telescopic mechanism is provided, which can synchronously telescope the inner telescopic tube of the X-axis only by driving the outer telescopic tube of the X-axis, thereby realizing rapid telescoping, and can realize long-distance telescoping by short-distance driving, thereby shortening the response time of the equipment and improving efficiency. The coordinate manipulator can be suitable for a rotatable manipulator to grasp objects at different distances and occupies little space.

[0004] The technical solution adopted by the utility model to solve its technical problems is: a coordinate manipulator, comprising a base unit, a frame unit, which is installed above the base unit; a telescopic mechanism, which is installed above the frame unit, comprises an X-axis outer telescopic tube and an X-axis inner telescopic tube, wherein the X-axis inner telescopic tube is sleeved in the X-axis outer telescopic tube, and the front and rear ends of the X-axis inner telescopic tube are connected to the support plate mechanism through a synchronous belt assembly, and the X-axis inner telescopic tube is synchronously extended and retracted by driving the X-axis outer telescopic tube; the support plate mechanism comprises a Z-axis slide plate, wherein a first driving assembly for driving the telescopic mechanism to extend and retract is installed on one plate surface of the Z-axis slide plate, and a second driving assembly for driving the Z-axis slide plate to move up and down along the frame unit is installed on the other plate surface of the Z-axis slide plate; a rotatable manipulator, which is installed on the protruding end of the telescopic mechanism, and is used to grab a workpiece and drive the gripper installed thereon to rotate ±180°.

[0005] Furthermore, the telescopic mechanism includes an X-axis outer telescopic tube and an X-axis inner telescopic tube, the X-axis outer telescopic tube and the X-axis inner telescopic tube are connected by a slide rail assembly, a first rack is installed on the top surface of the X-axis outer telescopic tube, and guide rails are installed on the top and bottom surfaces of the X-axis outer telescopic tube; a first synchronous belt is connected between the tail end side of the X-axis inner telescopic tube and the Z-axis slide plate in the support mechanism, and the first synchronous belt is arranged by bypassing a first synchronous pulley; a second synchronous belt is connected between the front end bottom surface of the X-axis inner telescopic tube and the lower support plate vertical plate in the support mechanism, and the second synchronous belt is arranged by bypassing a second synchronous pulley.

[0006] Furthermore, the first driving component includes a slider connecting plate installed on the upper end of the Z-axis slide plate surface and a lower support plate vertical plate installed on the lower end of the Z-axis slide plate surface, a first installation interval for installing the X-axis outer telescopic tube is formed between the slider connecting plate and the lower support plate vertical plate, and a first slider that cooperates with the guide rail in the telescopic mechanism is installed on the plate surface opposite to the slider connecting plate and the lower support plate vertical plate; an X-axis servo motor is installed on the slider connecting plate, and an X-axis driving gear is installed on the output end of the X-axis servo motor, and the X-axis driving gear is meshed with the first rack on the X-axis outer telescopic tube.

[0007] Furthermore, the second driving component includes a second slider assembly and a motor mounting seat installed on the Z-axis slide plate surface, the second slider assembly cooperates with the linear guide rail on the rack unit, the second slider assembly is composed of two second sliders, and an installation interval for installing the rack column in the rack unit is formed between the two second sliders. The second slider assembly is installed on the Z-axis slide plate surface and is arranged along the Z-axis direction; a Z-axis servo motor is installed on the motor mounting seat, and a Z-axis driving gear is installed on the output end of the Z-axis servo motor.

[0008] Furthermore, the rack unit includes a rack column, a linear guide rail that cooperates with the second slider assembly in the pallet mechanism is installed on one side surface of the rack column, and a second rack that meshes with the Z-axis lubrication gear and the Z-axis driving gear in the pallet mechanism is installed on the other side surface of the rack column.

[0009] Furthermore, the rotatable manipulator includes a hollow rotating platform, a Y-axis servo motor is installed at one end of the hollow rotating platform, a gripper connecting plate is installed at the other end of the hollow rotating platform, Y-axis hand gripping cylinders are installed at the upper and lower ends of the hand gripping cylinder, and a gripper is installed on each Y-axis hand gripping cylinder.

[0010] Furthermore, an opening is formed on the plate surface of the slider connecting plate, and an X-axis lubrication gear passing through the opening is installed on the slider connecting plate, and the X-axis lubrication gear is connected to the first rack on the X-axis outer telescopic tube.

[0011] Furthermore, a first proximity switch for sensing the X-axis outer telescopic tube in the telescopic mechanism is installed at the edge of the slider connecting plate.

[0012] Furthermore, a Z-axis lubrication gear is installed on the motor mounting seat, and a Z-axis motor adjustment block is installed on the side of the motor mounting seat in the Z-axis direction.

[0013] Furthermore, a second proximity switch for sensing a rack column in the rack unit is installed at the edge of the Z-axis slide plate.

[0014] Beneficial effects of the utility model: the utility model adds a two-stage telescopic mechanism, and the inner telescopic tube of the X-axis can be synchronously telescoped only by driving the outer telescopic tube of the X-axis, so as to achieve rapid telescoping, and a short-distance drive can achieve long-distance telescoping, shortening the equipment response time and improving efficiency. It can be applied to occasions where the rotatable manipulator grasps objects at different distances and occupies little space;

[0015] At the same time, the telescopic mechanism and the rack unit are driven by servo motors, with high-precision linear guide rails and gear rack transmission, which are fast, low-noise and accurate in positioning;

[0016] And the Y-axis servo motor and hollow rotating platform are selected to ensure smooth flipping and accurate positioning;

[0017] In addition, the secondary telescopic mechanism uses imported steel belts to achieve the double-speed function, which runs fast and smoothly and has a more compact structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Figure 1 It is a structural schematic diagram of the utility model;

[0020] Figure 2 This utility model Figure 1 A schematic diagram of the structure in another direction;

[0021] Figure 3 It is a schematic diagram of the structure of the utility model after the telescopic mechanism and the rotatable manipulator are combined;

[0022] Figure 4 It is a structural schematic diagram of the support plate mechanism of the utility model;

[0023] Figure 5 This utility model Figure 4 A schematic diagram of the structure in another direction;

[0024] Figure 6 This is a schematic structural diagram of the utility model in the F direction;

[0025] Figure 7 It is a structural schematic diagram of the rotatable machine of the utility model;

[0026] Figure 8 It is a structural schematic diagram of the rack unit of the utility model;

[0027] In the figure: 1. Base unit, 2. Rack unit, 3. Telescopic mechanism, 4. Rotatable manipulator, 5. Plate support mechanism, 6. Z-axis slide plate, 8. Lower support plate vertical plate, 11. First proximity switch, 12. X-axis lubrication gear, 13. X-axis driving gear, 14. X-axis servo motor, 15. First slider, 16. Slider connecting plate, 17. Z-axis servo motor, 18. Z-axis lubrication gear, 19. Motor mounting seat, 20. Z-axis motor adjustment block, 21. Z-axis driving gear, 22. Second Slider assembly, 23. Second proximity switch, 24. Gripper, 25. Y-axis hand grip cylinder, 26. Gripper connecting plate, 27. Hollow rotating platform, 28. Y-axis servo motor, 29. X-axis inner telescopic tube, 30. Second synchronous pulley, 31. Slide rail assembly, 34. X-axis outer telescopic tube, 35. First rack, 36. Guide rail, 37. First synchronous pulley, 39. Linear guide rail, 40. Second rack, 44. First synchronous belt, 45. Second synchronous belt, 46. Opening, 48. Rack column. DETAILED DESCRIPTION

[0028] Now the utility model is further described in detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the utility model in a schematic manner, and therefore only show the components related to the utility model.

[0029] like Figures 1 to 8 A coordinate manipulator shown, comprising

[0030] Base unit 1,

[0031] The rack unit 2 is installed above the base unit 1;

[0032] The telescopic mechanism 3 is installed above the rack unit 2, and includes an X-axis outer telescopic tube 34 and an X-axis inner telescopic tube 29. The X-axis inner telescopic tube 29 is sleeved in the X-axis outer telescopic tube 34. Both the front and rear ends of the X-axis inner telescopic tube 29 are connected to the support plate mechanism 5 through a synchronous belt assembly. The X-axis inner telescopic tube 29 is synchronously telescoped by driving the X-axis outer telescopic tube 34 (achieving secondary telescopic).

[0033] The support mechanism 5 includes a Z-axis slide plate 6, a first driving component for driving the telescopic mechanism 3 to extend and retract is installed on one surface of the Z-axis slide plate 6, and a second driving component for driving the Z-axis slide plate 6 to move up and down along the rack unit 2 is installed on the other surface of the Z-axis slide plate 6;

[0034] The rotatable manipulator 4 is installed at the extended end of the telescopic mechanism 3 to grab the workpiece and drive the claw installed thereon to rotate 24±180°. The Y-axis rotation movement can adjust the angle and direction of the object to meet the requirements of the specific feeding direction.

[0035] like Figure 3 As shown, the telescopic mechanism 3 includes an X-axis outer telescopic tube 34 and an X-axis inner telescopic tube 29, the X-axis outer telescopic tube 34 and the X-axis inner telescopic tube 29 are connected via a slide rail assembly 31, a first rack 35 is installed on the top surface of the X-axis outer telescopic tube 34, and guide rails 36 are installed on the top and bottom surfaces of the X-axis outer telescopic tube 34;

[0036] A first synchronous belt 44 is connected between the tail end side of the X-axis inner telescopic tube 29 and the Z-axis slide plate 6 in the support plate mechanism 5, and the first synchronous belt 44 is arranged around the first synchronous belt pulley 37;

[0037] A second synchronous belt 45 is connected between the front end bottom surface of the X-axis inner telescopic tube 29 and the lower support plate vertical plate 8 in the plate support mechanism 5 , and the second synchronous belt 45 is arranged around the second synchronous pulley 30 .

[0038] like Figures 4-5 As shown, the first driving assembly includes a slider connecting plate 16 installed on the upper end of the Z-axis slide plate 6 and a lower support plate vertical plate 8 installed on the lower end of the Z-axis slide plate 6. A first installation interval for installing the X-axis outer telescopic tube 34 is formed between the slider connecting plate 16 and the lower support plate vertical plate 8. The first slider 15 that cooperates with the guide rail 36 in the telescopic mechanism 3 is installed on the plate surface opposite to the slider connecting plate 16 and the lower support plate vertical plate 8.

[0039] An X-axis servo motor 14 is mounted on the slider connecting plate 16 , an X-axis driving gear 13 is mounted on the output end of the X-axis servo motor 14 , and the X-axis driving gear 13 is meshed with a first rack 35 on the X-axis outer telescopic tube 34 .

[0040] An opening 46 is formed on the surface of the slider connecting plate 16 , and an X-axis lubrication gear 12 passing through the opening 46 is mounted on the slider connecting plate 16 , and the X-axis lubrication gear 12 and the first rack 35 on the X-axis outer telescopic tube 34 are connected.

[0041] The first proximity switch 11 sensing the X-axis outer telescopic tube 34 in the telescopic mechanism 3 is installed at the edge of the slider connecting plate 16 .

[0042] like Figure 6 As shown, the second driving assembly includes a second slider assembly 22 and a motor mounting seat 19 mounted on the surface of the Z-axis slide plate 6, the second slider assembly 22 cooperates with the linear guide 39 on the rack unit 2, the second slider assembly 22 is composed of two second sliders, and the installation interval for installing the rack column 48 in the rack unit 2 is formed between the two second sliders. The second slider assembly 22 is mounted on the surface of the Z-axis slide plate 6 and is arranged along the Z-axis direction;

[0043] The Z-axis servo motor 17 is mounted on the motor mounting seat 19 , and the output end of the Z-axis servo motor 17 is mounted with a Z-axis driving gear 21 .

[0044] A Z-axis lubrication gear 18 is also mounted on the motor mounting seat 19 , and a Z-axis motor adjustment block 20 is mounted on the side of the motor mounting seat 19 in the Z-axis direction.

[0045] A second proximity switch 23 for sensing a frame column 48 in the frame unit 2 is installed at the edge of the Z-axis slide plate 6 .

[0046] like Figure 8 As shown, the rack unit 2 includes a rack column 48, a linear guide 39 that cooperates with the second slider assembly 22 in the pallet mechanism 5 is installed on one side surface of the rack column 48, and a second rack 40 that meshes with the Z-axis lubrication gear 18 and the Z-axis driving gear 21 in the pallet mechanism 5 is installed on the other side surface of the rack column 48.

[0047] like Figure 7 As shown, the rotatable manipulator 4 includes a hollow rotating platform 27, one end of which is equipped with a Y-axis servo motor 28, and the other end of the hollow rotating platform 27 is equipped with a gripper connecting plate 26, and the upper and lower ends of the gripper connecting plate 26 are equipped with Y-axis gripper cylinders 25, and each Y-axis gripper cylinder 25 is equipped with a gripper 24.

[0048] The rack unit 2 is connected to the base unit 1 through high-strength bolts, and the base unit 1 is then fixed to the horizontal plane through chemical bolts. The control box, pneumatic component Z-direction drag chain, etc. are installed on the base unit 1 and the rack unit 2.

[0049] The entire robot adopts an automatic lubricating oil pump for centralized oil supply. Manual workers only need to put the lubricating oil into the oil pump, and the lubricating oil pump will automatically lubricate the equipment.

[0050] Working process:

[0051] Step 1: When the device receives the running signal, the Z-axis servo motor 17 starts to drive the support plate mechanism 5 downward along the Z axis;

[0052] Step 2: At the same time, according to the program setting, the X-axis servo motor 14 is started, and the telescopic mechanism 3 is extended and moves to the blank position;

[0053] Step 3: The Y-axis hand gripping cylinder 25 below controls the gripper 24 (blank gripper) to grab the blank and move it to the designated loading position;

[0054] Step 4: The Y-axis servo motor 28 is started to drive the hollow rotating platform 27 to rotate, so that the gripper 24 rotates 180°. At this time, the Y-axis gripper cylinder 25 above controls the gripper 24 (empty gripper) to grab the finished material, and the blank gripper puts down the blank;

[0055] Step 5: The Z-axis servo motor 17 and the X-axis servo motor 14 are started again, run to the finished product unloading position, put down the finished product, and repeat this process.

[0056] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without deviating from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A coordinate manipulator, characterized in that: include Base unit (1), A rack unit (2) is mounted above the base unit (1); The telescopic mechanism (3) is installed above the frame unit (2), and comprises an X-axis outer telescopic tube (34) and an X-axis inner telescopic tube (29). The X-axis inner telescopic tube (29) is sleeved in the X-axis outer telescopic tube (34). Both front and rear ends of the X-axis inner telescopic tube (29) are connected to the support plate mechanism (5) through a synchronous belt assembly. The X-axis outer telescopic tube (34) is driven to synchronously telescope the X-axis inner telescopic tube (29). The support plate mechanism (5) comprises a Z-axis slide plate (6), a first driving component for driving the telescopic mechanism (3) to extend and retract is installed on one plate surface of the Z-axis slide plate (6), and a second driving component for driving the Z-axis slide plate (6) to move up and down along the frame unit (2) is installed on the other plate surface of the Z-axis slide plate (6); The rotatable manipulator (4) is mounted on the extended end of the telescopic mechanism (3) and is used to grab the workpiece and drive the gripper (24) mounted thereon to rotate ±180°.

2. A coordinate manipulator according to claim 1, characterized in that: The telescopic mechanism (3) comprises an X-axis outer telescopic tube (34) and an X-axis inner telescopic tube (29), the X-axis outer telescopic tube (34) and the X-axis inner telescopic tube (29) are connected via a slide rail assembly (31), a first rack (35) is installed on the top surface of the X-axis outer telescopic tube (34), and guide rails (36) are installed on the top and bottom surfaces of the X-axis outer telescopic tube (34); A first synchronous belt (44) is connected between the tail end side of the X-axis inner telescopic tube (29) and the Z-axis slide plate (6) in the support plate mechanism (5), and the first synchronous belt (44) is arranged around a first synchronous belt pulley (37); A second synchronous belt (45) is connected between the front end bottom surface of the X-axis inner telescopic tube (29) and the lower support plate vertical plate (8) in the support plate mechanism (5), and the second synchronous belt (45) is arranged around a second synchronous belt pulley (30).

3. A coordinate manipulator according to claim 1, characterized in that: The first driving assembly comprises a slider connecting plate (16) mounted on the upper end of the Z-axis slide plate (6) and a lower support plate vertical plate (8) mounted on the lower end of the Z-axis slide plate (6), a first installation interval for mounting an X-axis outer telescopic tube (34) is formed between the slider connecting plate (16) and the lower support plate vertical plate (8), and a first slider (15) cooperating with a guide rail (36) in the telescopic mechanism (3) is mounted on the plate surfaces opposite to the slider connecting plate (16) and the lower support plate vertical plate (8); An X-axis servo motor (14) is installed on the slider connecting plate (16), an X-axis driving gear (13) is installed on the output end of the X-axis servo motor (14), and the X-axis driving gear (13) is meshed with a first rack (35) on the X-axis outer telescopic tube (34).

4. A coordinate manipulator according to claim 1, characterized in that: The second driving assembly comprises a second slider assembly (22) and a motor mounting seat (19) mounted on the surface of the Z-axis slide plate (6); the second slider assembly (22) cooperates with the linear guide rail (39) on the frame unit (2); the second slider assembly (22) is composed of two second sliders, and a mounting interval for mounting a frame column (48) in the frame unit (2) is formed between the two second sliders; the second slider assembly (22) is mounted on the surface of the Z-axis slide plate (6) and is arranged along the Z-axis direction; A Z-axis servo motor (17) is mounted on the motor mounting seat (19), and a Z-axis driving gear (21) is mounted on the output end of the Z-axis servo motor (17).

5. A coordinate robot according to claim 1, characterized in that: The frame unit (2) comprises a frame column (48), a linear guide rail (39) matched with a second slider assembly (22) in a support plate mechanism (5) is installed on one side surface of the frame column (48), and a second rack (40) meshing with a Z-axis lubrication gear (18) and a Z-axis driving gear (21) in the support plate mechanism (5) is installed on the other side surface of the frame column (48).

6. A coordinate manipulator according to claim 1, characterized in that: The rotatable manipulator (4) comprises a hollow rotating platform (27), one end of the hollow rotating platform (27) is mounted with a Y-axis servo motor (28), the other end of the hollow rotating platform (27) is mounted with a gripper connecting plate (26), the upper and lower ends of the gripper connecting plate (26) are mounted with Y-axis gripper cylinders (25), and each Y-axis gripper cylinder (25) is mounted with a gripper (24).

7. A coordinate manipulator according to claim 3, characterized in that: The slider connecting plate (16) has an opening (46) on its surface, and an X-axis lubrication gear (12) passing through the opening (46) is installed on the slider connecting plate (16), and the X-axis lubrication gear (12) and the first rack (35) on the X-axis outer telescopic tube (34) are connected.

8. A coordinate manipulator according to claim 3, characterized in that: A first proximity switch (11) of the X-axis outer telescopic tube (34) in the inductive telescopic mechanism (3) is installed at the edge of the slider connecting plate (16).

9. A coordinate robot according to claim 4, characterized in that: A Z-axis lubrication gear (18) is also installed on the motor mounting seat (19), and a Z-axis motor adjustment block (20) is installed on the side of the motor mounting seat (19) in the Z-axis direction.

10. A coordinate manipulator according to claim 4, characterized in that: A second proximity switch (23) for sensing a frame column (48) in the frame unit (2) is installed at the edge of the Z-axis slide plate (6).

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