Automation equipment of multi-shaft execution structure

Abstract

The utility model discloses automation equipment with a multi-shaft execution structure, which comprises a workbench, an execution mechanism, a pneumatic mechanism and a mounting rack, and is characterized in that the execution mechanism is fixedly mounted on the surface of the workbench through the mounting rack, and the pneumatic mechanism is tightly connected with the execution mechanism; the executing mechanism can move in the front-and-back direction, the up-and-down direction and the left-and-right direction, and workpieces placed on the workpiece placing part are adsorbed through the pneumatic mechanism. The three-axis movement adjusting device has high flexibility and high efficiency, the first movement mechanism, the second movement mechanism and the third movement mechanism can conduct movement adjustment on a workpiece in the X-axis direction, the Y-axis direction and the Z-axis direction at the same time, meanwhile, the second movement mechanism adsorbs the workpiece through the pneumatic mechanism and conducts linear up-and-down rotation movement, the movement track of the workpiece is flexibly adjusted, and the workpiece can be adjusted more accurately. And the working efficiency of equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to an automation equipment with a multi-axis execution structure. Background Art

[0002] In the field of automation equipment, automation equipment refers to mechanical equipment and systems that use various automation technologies to replace or assist manual labor to complete production processes, testing, packaging, handling, loading and unloading, management, services and other tasks. With the advancement of science and technology and the development of industry, automation equipment plays an increasingly important role in modern manufacturing and service industries. It has the advantages of high efficiency, high precision, and high stability, helping the human economy to achieve rapid development. However, since the manufacture of a complete automation equipment has high requirements and high comprehensiveness for software and hardware technology, it requires the integration of technologies from multiple disciplines to fully produce an automation equipment.

[0003] In the prior art, most automation equipment jointly controls multiple motors to complete the operation of the automation equipment on the workpiece, but the movement of the workpiece can only be fixed in one axial direction and cannot perform multi-axis movement at the same time, which reduces the working efficiency of the equipment. Utility Model Content

[0004] In view of the deficiency in the above-mentioned technology that the automation equipment cannot realize multi-axis motion, the utility model provides an automation equipment with a multi-axis execution structure.

[0005] To achieve the above-mentioned purpose, the utility model provides an automated equipment with a multi-axis execution structure, including a workbench, the workbench is provided with an actuator, a pneumatic mechanism installed inside the workbench and a mounting frame, the actuator is fixedly mounted on the table surface of the workbench through the mounting frame, and the pneumatic mechanism is connected to the actuator; the actuator adsorbs the workpiece through the pneumatic mechanism and performs rotational motion in three directions: front, back, up, down, and left, right.

[0006] As an improved solution of the utility model, the mounting frame is provided with a motor screw and a connecting plate, the motor screw is fixedly arranged on the mounting frame, and the actuator includes at least one first motion module, at least one second motion module and a third motion module; the pneumatic mechanism is connected to the first motion module, the second motion module is sleeved on the motor screw and slidingly cooperates with the motor screw, the mounting frame is provided with a first guide rail, and the second motion module slidingly cooperates with the first guide rail; the second motion module is fixedly connected to the first motion module through the connecting plate, and the second motion module drives the first motion module to perform left and right linear motion relative to the workbench through the connecting plate; a second guide rail is provided at one end of the mounting frame away from the third motion module, the third motion module slidingly cooperates with one end of the mounting frame, and the other end of the mounting frame slidingly cooperates with the second guide rail, and the third motion module drives the first motion module and the second motion module to perform forward and backward linear motion relative to the workbench through the mounting frame.

[0007] As an improved solution of the utility model, the first motion module includes a first hollow motor, a second hollow motor and a ball spline screw, the ball spline screw is provided with a ball spline, a ball nut and at least one connecting block, the ball spline screw passes through the first hollow motor and the second hollow motor in sequence, the first hollow motor is connected to the ball spline through one of the connecting blocks, and the second hollow motor is connected to the ball nut through one of the connecting blocks; a connecting base is provided between the first hollow motor and the second hollow motor, the first hollow motor and the second hollow motor are respectively fixedly connected to the two ends of the connecting base, and the connecting base is fixedly connected to the connecting plate; the ball spline screw is a hollow structure, and an air guide tube is fixedly connected to one end of the ball spline screw away from the workbench, and a suction nozzle is provided at the other end; the first hollow motor controls the ball spline screw to perform linear rotational motion in the upper and lower positions through the ball spline, and the second hollow motor controls the ball spline screw to perform linear rotational motion in the upper and lower positions through the ball nut.

[0008] As an improved solution of the utility model, the second motion module includes a third hollow motor and a sliding block, the third hollow motor is sleeved on the motor screw rod, the bottom of the third hollow motor is fixedly arranged on the sliding block, and the sliding block is slidably matched with the first guide rail.

[0009] As an improvement scheme of the utility model, the third motion module includes a first motor, a third guide rail and a movable part, the movable part is sleeved on the output shaft of the first motor and is slidably connected to the third guide rail, the end of the output shaft away from the first motor is also sleeved with a ball bearing, and the ball bearing is also sleeved with a bearing mounting seat; the mounting frame is fixedly connected to the movable part, and the first motor drives the mounting frame to perform linear motion in the front and rear directions through the movable part.

[0010] As an improvement of the present utility model, the pneumatic mechanism includes a vacuum pump, a vacuum generator and a triplet, one end of the triplet is connected to the vacuum pump, the other end of the triplet is connected to one end of the vacuum generator, and the other end of the vacuum generator is connected to the ball spline screw through the air guide tube.

[0011] As an improved solution of the utility model, at least one first bearing is respectively provided on both ends of the ball spline, and at least one second bearing is provided on the outer sleeve of the ball nut.

[0012] As an improved solution of the utility model, control buttons are provided on the workbench.

[0013] As an improved solution of the utility model, cooling fans are provided on both sides of the workbench.

[0014] The beneficial effects of the utility model are as follows: compared with the prior art, the utility model provides an automated equipment with a multi-axis execution structure, comprising a workbench, an actuator, a pneumatic mechanism and a mounting frame, and is characterized in that the actuator is fixedly mounted on the surface of the workbench through the mounting frame, the pneumatic mechanism is tightly connected to the actuator, the actuator can move in three directions, front and back, up and down, and left and right, and adsorb the workpiece placed on the workpiece placement part through the pneumatic mechanism; the utility model has high flexibility and high efficiency, and through the first motion mechanism, the second motion mechanism and the third motion mechanism, the workpiece can be simultaneously adjusted in the three axes of X, Y, and Z, and at the same time, the second motion mechanism adsorbs the workpiece through the pneumatic mechanism and performs a linear up and down rotation motion, flexibly adjusting the motion trajectory of the workpiece and improving the working efficiency of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the front view of the utility model;

[0016] Figure 2 It is an exploded view of the first motion mechanism of the utility model;

[0017] Figure 3 It is a front view of the first motion mechanism of the utility model;

[0018] Figure 4 It is a three-dimensional diagram of the second motion mechanism of the utility model;

[0019] Figure 5 It is a right side view of the second motion mechanism of the utility model;

[0020] Figure 6 It is a three-dimensional diagram of the third motion mechanism of the utility model;

[0021] Figure 7 It is an exploded view of the third motion mechanism of the utility model;

[0022] Figure 8 It is a schematic diagram of the execution mechanism of the utility model;

[0023] Fig. 9 It is a left view of the utility model;

[0024] Fig.10 It is a schematic diagram of the pneumatic structure of the utility model.

[0025] The symbols of the main components are explained as follows: 1. Workbench; 2. Actuator; 21. First motion mechanism; 211. First hollow motor; 212. Second hollow motor; 213. Ball spline screw; 214. Ball spline; 215. Ball nut; 216. Connecting block; 217. Connecting base; 2. Second motion mechanism; 221. Third hollow motor; 222. Motor screw; 223. Sliding block; 224. First guide rail; 23. Third motion mechanism; 231. First motor; 232. Third guide rail; 233. Moving part; 234. Ball bearing; 235. Bearing mounting seat; 3. Pneumatic mechanism; 31. Vacuum pump; 32. Vacuum generator; 33. Triple piece; 4. Mounting frame; 41. Connecting plate; 5. First bearing; 6. Second bearing; 7. Air guide tube; 8. Suction nozzle; 9. Control button; 10. Cooling fan; 11. Second guide rail. DETAILED DESCRIPTION

[0026] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0027] See also Figure 1-Figure 10The utility model is an automated equipment with a multi-axis execution structure, comprising a workbench 1, an actuator 2, a pneumatic mechanism 3 and a mounting frame 4, characterized in that the actuator 2 is fixedly mounted on the surface of the workbench 1 through the mounting frame 4, the pneumatic mechanism 3 is tightly connected with the actuator 2, the actuator 2 adsorbs the workpiece through the pneumatic mechanism 3 and moves the workpiece in three directions, front and back, up and down, and left and right, and the movement of the workpiece is completed through the actuator 2, wherein the actuator 2 can mainly cooperate with the pneumatic mechanism 3 to adsorb the workpiece, perform linear motion in three axial directions, and can also perform rotational motion.

[0028] The working principle of the utility model is:

[0029] A first motion mechanism 21 for rotating linear motion in the upper and lower positions of the Z axis, a second motion mechanism 22 for linear motion in the left and right positions of the X axis, and a third motion mechanism 23 for linear motion in the front and back positions of the Y axis are arranged on the table surface of the workbench 1. The second motion mechanism 22 is fixedly connected to the first motion mechanism 21 through a connecting plate. The third hollow motor 221 of the second motion mechanism 22 is sleeved on the motor screw rod 222, and the second motion mechanism 22 is slidably matched with the first guide rail 224. The first motion mechanism 21 has a hollow ball spline screw 213 that passes through the first hollow motor 211 and the second hollow motor 212 respectively. The output ends of the first hollow motor 211 and the second hollow motor 212 are movably connected to the ball spline screw 213 through the ball spline 214 and the ball nut 215 respectively. When the first hollow motor 211 is started alone, the ball spline screw 213 performs a linear up and down rotation motion through the cooperation of the ball spline 214. When the second hollow motor 211 is started alone, the ball spline screw 213 performs a linear up and down rotation motion through the cooperation of the ball spline 214. When the first hollow motor 211 and the second hollow motor 212 are started, the relative movement between the ball spline 214 and the ball nut 215 makes the linear motion of the ball spline screw 213 by the first hollow motor 211 and the second hollow motor 212 cancel each other out, so that the ball spline screw 213 rotates in place. The output shaft of the first motor 231 of the third motion mechanism 23 passes through the movable part 233. The movable part 233 is engaged and slidably connected with the third guide rail 234 on the guide rail frame 232, and the guide rail frame 232 is fixedly connected to one end of the mounting frame 4, and the other end of the mounting frame 4 is slidably matched with the second guide rail 11. Therefore, when the first motor 231 is started, the movable part 233 drives the mounting frame 4 to move in the front and rear directions, thereby completing the movement of the workpiece, and the air guide pipe 7 of the second motion mechanism 22 is connected to the pneumatic mechanism 3, and the workpiece is sucked through the connection between the air guide pipe 7 and the vacuum generator 32.

[0030] See also Figure 1 and Figure 8 In another embodiment, all the technical features of the above embodiments are included, a motor screw 222 and a connecting plate 41 are provided on the mounting frame 4, the motor screw 222 is fixedly arranged on the mounting frame 4, the actuator 2 includes at least one first motion mechanism 21, at least one second motion mechanism 22 and a third motion mechanism 23; the first motion mechanism 21 is passed through the motor screw 222 and slidably cooperates with the motor screw 222, a first guide rail 224 is provided on the mounting frame 4, and the second motion mechanism 22 slidably cooperates with the sliding block 223 through the first guide rail 224; the first motion mechanism The structure 21 is fixedly connected to the second motion mechanism 22 through the connecting plate 41, and the second motion mechanism 22 controls the first motion mechanism 21 to move left and right relative to the workbench 1 through the connecting plate 41; the end of the mounting frame 4 away from the third motion mechanism 23 is provided with a second guide rail 11, the third motion mechanism 23 is embedded and connected with one end of the mounting frame 4 and slides together, the other end of the mounting frame 4 is embedded in the second guide rail 11 and slides together with the second guide rail 11, and the third motion mechanism 23 controls the first motion mechanism 21 and the second motion mechanism 22 through the mounting frame 4, which is equivalent to the forward and backward movement of the workbench 1.

[0031] See also Figure 2-Figure 3 , Fig.10In another embodiment, all the technical features of the above embodiments are included. The first motion mechanism 21 includes a first hollow motor 211, a second hollow motor 212, a ball spline 214 and a ball spline screw 213. The ball spline screw 213 passes through the first hollow motor 211 and the second hollow motor 212 in sequence. The first hollow motor 211 and the second hollow motor 212 are movably connected to the ball spline screw 213 through the ball spline 214 and the ball nut 215 respectively. A connecting base 217 is provided between the first hollow motor 211 and the second hollow motor 212. The first hollow motor 211 and the second hollow motor 212 are fixedly connected to both ends of the connecting base 217 respectively; the ball spline screw 213 is a hollow structure, and the end of the ball spline screw 213 away from the workbench 1 is fixedly connected to the air guide pipe 7, and the other end is provided with a suction nozzle 8. The air guide pipe 7 is connected to the pneumatic mechanism 3. The first hollow motor 211 controls the linear rotation movement of the ball spline screw 213 in the up and down directions through the ball spline 214, and the second hollow motor 212 controls the linear rotation movement of the ball spline screw 213 in the up and down directions through the ball nut 215; the first hollow motor 211 is connected to the ball spline 214 through the connecting block 216, and drives the ball spline 214 to rotate when started, so as to control the up and down linear movement and rotation of the ball spline screw 213; when the second hollow motor 212 is started, the ball nut 215 rotates to drive the ball spline screw 213 to perform up and down linear movement through the connection between the connecting block 216 and the ball nut 215; when the first hollow motor 211 and the second hollow motor 212 are started at the same time, the ball spline 214 and the ball nut 215 rotate at the same time, and the relative movement between the two causes the ball spline screw 213 to rotate in situ.

[0032] See also Figure 4-Figure 5 The second motion module 22 includes a third hollow motor 221 and a sliding block 223. The third hollow motor 221 is sleeved on the motor screw 222. The bottom of the third hollow motor 221 is fixedly set on the sliding block 223. The sliding block 223 is slidably matched with the first guide rail 224. The third hollow motor 221 drives the motor screw 222 to rotate to perform left and right linear motion through the sliding block 223.

[0033] See also Figure 6-Figure 8In another embodiment, all the technical features of the above embodiments are included. The third motion mechanism 23 includes a first motor 231, a third guide rail 232 and a movable member 233. The movable member 233 is sleeved on the output shaft of the first motor 231 and is slidably connected to the third guide rail 232. A ball bearing 234 is sleeved on the end of the output shaft away from the first motor 231. A bearing mounting seat 235 is sleeved on the outside of the ball bearing 234. The mounting frame 4 is fixedly connected to the movable member 233. The first motor 231 drives the mounting frame 4 to move forward and backward through the movable member 233. Linear motion: the output shaft of the first motor 231 is connected with the movable part 233 by being engaged with it, and the movable part 233 is engaged with the third guide rail 232. The third guide rail 232 limits the movement direction of the movable part 233, so that when the first motor 231 is started, the movable part 233 can only make reciprocating linear motion in the front and rear directions on the third guide rail 232. At the same time, the mounting frame 4 is fixedly connected with the movable part 233. The mounting frame 4 drives the workpiece to move forward and backward linearly through the movable part 233. At the same time, the ball bearing 234 can also help the first motor 231 to rotate more smoothly.

[0034] See also Figure 2 In another embodiment, all the technical features of the above embodiments are included, and at least one first bearing 5 is provided at each end of the ball spline 214, and at least one second bearing 6 is provided outside the ball nut 215; the first bearing 5 and the second bearing 6 can reduce the friction between the ball spline 214 and the ball nut 215, and increase the rotation efficiency and durability.

[0035] See also Figure 9-10 In another embodiment, all the technical features of the above embodiments are included, and the pneumatic mechanism 3 includes a vacuum pump 31, a vacuum generator 32 and a triplet 33, one end of the triplet 33 is connected to the vacuum pump 3, and the other end of the triplet 33 is connected to one end of the vacuum generator 32, and the other end of the vacuum generator 32 is connected to the ball spline screw 213 through the air guide tube 7. Since the technologies of the vacuum pump 31, the vacuum generator 32 and the triplet 33 are relatively mature, the connection between the components of the pneumatic mechanism 3 is an existing technology, so it is not necessary to elaborate on it. The workpiece is adsorbed by the pneumatic mechanism 3, and the production of the workpiece is completed in cooperation with the actuator 2.

[0036] See also Figure 1 In another embodiment, all the technical features of the above embodiments are included, and a control button 9 is provided on the workbench 1. The main function of the control button 9 is to start the equipment power supply, shut down the equipment and stop the equipment in an emergency.

[0037] See also Fig. 9In another embodiment, all the technical features of the above-mentioned embodiments are included, and cooling fans 10 are provided on both sides of the workbench 1. Since the load of large equipment will generate a lot of heat, the cooling fans 10 are needed to cool the equipment.

[0038] The advantages of the utility model are:

[0039] The workpiece can be adsorbed and moved in straight lines and rotationally up and down, front and back, left and right through the motion mechanism and pneumatic mechanism in three axial directions, which improves the production efficiency of the equipment and the flexibility of the workpiece.

[0040] The above disclosures are only several specific embodiments of the present invention, but the present invention is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. An automation device with a multi-axis execution structure, comprising a workbench, characterized in that: The workbench is provided with an actuator, a pneumatic mechanism installed inside the workbench and a mounting frame. The actuator is fixedly mounted on the workbench surface through the mounting frame, and the pneumatic mechanism is connected to the actuator. The actuator adsorbs the workpiece through the pneumatic mechanism and performs rotational motion in three directions: front and back, up and down, and left and right.

2. The automation equipment of the multi-axis execution structure according to claim 1, characterized in that: The mounting frame is provided with a motor screw and a connecting plate, the motor screw is fixedly arranged on the mounting frame, and the actuator includes at least one first motion module, at least one second motion module and a third motion module; the pneumatic mechanism is connected to the first motion module, the second motion module is sleeved on the motor screw and slidably cooperates with the motor screw, the mounting frame is provided with a first guide rail, and the second motion module slidably cooperates with the first guide rail; the second motion module is fixedly connected to the first motion module through the connecting plate, and the second motion module drives the first motion module to perform left and right linear motion relative to the workbench through the connecting plate; a second guide rail is provided at one end of the mounting frame away from the third motion module, the third motion module slidably cooperates with one end of the mounting frame, and the other end of the mounting frame slidably cooperates with the second guide rail, and the third motion module drives the first motion module and the second motion module to perform forward and backward linear motion relative to the workbench through the mounting frame.

3. The automation equipment of the multi-axis execution structure according to claim 2, characterized in that: The first motion module comprises a first hollow motor, a second hollow motor and a ball spline screw, the ball spline screw is provided with a ball spline, a ball nut and at least one connecting block, the ball spline screw passes through the first hollow motor and the second hollow motor in sequence, the first hollow motor is connected to the ball spline through one of the connecting blocks, and the second hollow motor is connected to the ball nut through one of the connecting blocks; a connecting base is provided between the first hollow motor and the second hollow motor, the first hollow motor and the second hollow motor are fixedly connected to the two ends of the connecting base respectively, and the connecting base is fixedly connected to the connecting plate; the ball spline screw is a hollow structure, and an air guide tube is fixedly connected to one end of the ball spline screw away from the workbench, and a suction nozzle is provided at the other end; the first hollow motor controls the ball spline screw to perform linear rotational motion in the up and down directions through the ball spline, and the second hollow motor controls the ball spline screw to perform linear rotational motion in the up and down directions through the ball nut.

4. The automation equipment of the multi-axis execution structure according to claim 2, characterized in that: The second motion module includes a third hollow motor and a sliding block. The third hollow motor is sleeved on the motor screw rod. The bottom of the third hollow motor is fixedly arranged on the sliding block. The sliding block is slidably matched with the first guide rail.

5. The automation equipment of the multi-axis execution structure according to claim 2, characterized in that: The third motion module includes a first motor, a third guide rail and a movable part. The movable part is mounted on the output shaft of the first motor and is slidably connected to the third guide rail. A ball bearing is also mounted on the end of the output shaft away from the first motor, and a bearing mounting seat is also mounted on the outside of the ball bearing. The mounting frame is fixedly connected to the movable part, and the first motor drives the mounting frame to perform linear motion in the front and rear directions through the movable part.

6. The automation equipment of the multi-axis execution structure according to claim 3, characterized in that: The pneumatic mechanism includes a vacuum pump, a vacuum generator and a triplet, one end of the triplet is connected to the vacuum pump, the other end of the triplet is connected to one end of the vacuum generator, and the other end of the vacuum generator is connected to the ball spline screw through the air guide tube.

7. The automation equipment of the multi-axis execution structure according to claim 3, characterized in that: At least one first bearing is sleeved on each of the two ends of the ball spline, and at least one second bearing is sleeved on the outer sleeve of the ball nut.

8. The automation equipment of the multi-axis execution structure according to claim 1, characterized in that: The workbench is provided with control buttons.

9. The automation equipment of the multi-axis execution structure according to claim 1, characterized in that: Cooling fans are arranged on both sides of the workbench.

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