Five-axis overturning transfer robot

Abstract

The utility model provides a five-axis overturning carrying robot, and belongs to the technical field of automatic machining equipment, the five-axis overturning carrying robot comprises a distribution box, a lifting mechanism, a multi-axis horizontal rotating arm, a first suction cup assembly and a second suction cup assembly, a stand column is fixedly installed at the upper end of the distribution box, and the stand column is connected with the multi-axis horizontal rotating arm through the lifting mechanism; a first suction cup assembly and an overturning mechanism are installed at the movable end of the multi-axis horizontal rotating arm, a second suction cup assembly is installed at the driving end of the overturning mechanism, and the second suction cup assembly can overturn around the overturning mechanism. The first suction cup assembly and the second suction cup assembly are connected with an air source control box through breather pipes, and the air source control box is installed on the multi-axis horizontal rotating arm. The robot is provided with the two sets of special suction cup assemblies, one set of suction cup assemblies can turn over and is matched with the air source control box and the ventilation pipe connecting control structure, the stamping plates are automatically and alternately stamped, the stamping plates of a sheet-shaped structure are transferred, and the working efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of automated processing equipment, and relates to the movement and transportation of stamping plates, and specifically is a five-axis flipping and handling robot. Background Art

[0002] A variety of equipment requires stamping plates of specific specifications. During the processing of stamping plates, multiple stamping or installation steps are required. The transfer between stamping equipment requires the repositioning of the stamping plate workpiece to be processed, which results in low processing efficiency. Existing multi-joint robots have been widely used in industrial machine tools.

[0003] However, existing robots are usually used in conjunction with industrial manipulators, have limited positioning accuracy for workpieces, and can only transport workpieces in one direction, which cannot meet the needs of automatic flipping for double-sided processing of stamping plates. Utility Model Content

[0004] The purpose of this application is to overcome the shortcomings of the prior art and provide a five-axis flipping and handling robot that can automatically flip the stamping plate to improve processing efficiency.

[0005] A five-axis flipping handling robot comprises a distribution box, a lifting mechanism, a multi-axis horizontal rotating arm, a first suction cup assembly and a second suction cup assembly. A column is fixedly mounted on the upper end of the distribution box, the multi-axis horizontal rotating arm is connected to the column through the lifting mechanism, the first suction cup assembly and the flipping mechanism are installed on the movable end of the multi-axis horizontal rotating arm, the second suction cup assembly is installed on the driving end of the flipping mechanism, and the second suction cup assembly can flip around the flipping mechanism; the first suction cup assembly and the second suction cup assembly are respectively connected to an air source control box through a ventilation pipe, and the air source control box is installed on the multi-axis horizontal rotating arm.

[0006] By adopting the above technical solution, in combination with two sets of suction cup assemblies designed for stamping parts, the parts can be grasped and transferred, and the stamping plate can be flipped 180° as needed to improve processing efficiency.

[0007] Preferably, the first suction cup assembly and the second suction cup assembly each include multiple groups of suction cups, each group of suction cups includes one or more suction cups; each of the multiple groups of suction cups is respectively connected to the air source control box.

[0008] By adopting the above technical solution, multiple groups of suction cup assemblies are respectively controlled by the air source control box, and can perform suction or release actions respectively, so that multiple workpieces can be processed simultaneously for transportation with different needs.

[0009] Preferably, the multi-axis horizontal rotating arm includes a first rotating seat, a first swing arm, a second rotating seat, a second swing arm, a third rotating seat and a third swing arm connected in sequence, the rotating axes of the first rotating seat, the second rotating seat and the third rotating seat are all arranged in the vertical direction, and the first swing arm, the second swing arm and the third swing arm can rotate in a horizontal plane; the output end of the third rotating seat is also connected to a flipping mechanism, the flipping mechanism is connected to the fourth swing arm, the other end of the fourth swing arm is connected to the second suction cup assembly, and the rotating axis of the flipping mechanism is arranged horizontally, which can drive the fourth swing arm to flip 180°.

[0010] By adopting the above technical solution, the robot of this solution is mainly used to transfer stamping plates of different stamping processes, from one stamping machine processing position to the stamping machine processing position of the next process. The rotating arms move horizontally, and multiple rotating axes cooperate to flexibly and efficiently transfer parts.

[0011] Preferably, the third swivel seat includes a swivel arm motor and an output flange, the main housing of the swivel arm motor is fixedly mounted on the end of the second swing arm, the output flange is coaxially fixedly mounted on the output shaft of the swivel arm motor, and the output flange is fixedly connected to the end of the third swing arm.

[0012] By adopting the above technical solution, the arm motor and the output flange are used as the driving mechanism of the arm, which has good stability and good controllability of the rotation angle.

[0013] Preferably, the flipping mechanism includes a connecting seat, a connecting plate and a flipping motor, the connecting seat is fixedly connected to the output flange of the third rotating seat, and the connecting seat can rotate in a horizontal plane along with the third rotating seat; the flipping motor is installed on one side of the connecting seat, the output shaft of the flipping motor is arranged in a horizontal direction and is perpendicular to the third swing arm, the output shaft of the flipping motor is fixedly connected to the connecting plate, and the fourth swing arm is fixedly connected to the connecting plate.

[0014] By adopting the above technical solution, this embodiment uses harmonic deceleration to control the flipping action of the second suction cup assembly and its supporting structure, which is stable and reliable. The flipping simultaneously controls the two groups of suction cup assemblies to alternately inhale or relax, thereby exchanging the stamping plate workpiece, and transferring the workpiece sucked by the first suction cup assembly to the second suction cup assembly, and the second suction cup assembly drives the workpiece to rotate.

[0015] Preferably, two quick connectors are fixedly installed on the third swing arm and the fourth swing arm close to the third turntable, respectively, the suction cup of the first suction cup assembly is plugged into the quick connector on the third swing arm through a ventilation pipe, the suction cup of the second suction cup assembly is plugged into the quick connector on the fourth swing arm through a ventilation pipe, the quick connector is connected to the air source control box through an air pipe, a vacuum generator and a plurality of solenoid valves are arranged in the air source control box, the vacuum generator is connected to a plurality of solenoid valves, each solenoid valve is connected to a corresponding quick connector, each quick connector controls a group of suction cups, and different suction cups are controlled in groups by controlling the opening and closing of the solenoid valves.

[0016] By adopting the above technical solution, the quick connector setting is used to effectively improve the installation efficiency. Since the position of the bracket and the suction cup can be adjusted according to the product specifications, the ventilation pipe at the quick connector position is disconnected during adjustment. After the suction cup position is installed, the ventilation pipe can be plugged into the corresponding quick connector to improve the installation efficiency.

[0017] Preferably, the first suction cup assembly includes a main rod, a support rod, a suction cup and a quick plug, the middle part of the main rod is vertically fixed to the end of the third swing arm, a plurality of support rods are spaced apart and connected on both sides of the main rod in the horizontal radial direction, the support rods are all cantilevered horizontal straight rods, a suction cup is fixed to each cantilever end of the support rod, the openings of the suction cups are in the same direction and are perpendicular to the support rod; the structure of the second suction cup assembly is the same as that of the first suction cup assembly.

[0018] By adopting the above technical solution, the suction cup bracket includes a main rod and a support rod, which are arranged perpendicular to each other, and the position of the support rod can be adjusted. The position of the support rod is adjusted according to the size of the part, thereby adjusting the position of the suction cup.

[0019] Preferably, the lifting mechanism includes guide rails, slides, racks, gears and a lifting motor. Two vertical guide rails are symmetrically installed on both sides of the front end of the column. A slide is slidably connected to the upper limit position of the two guide rails, and the slide can move up and down along the guide rails. A rack is fixedly installed at the front end of the column between the two guide rails, and the rack is arranged in a vertical direction. A lifting motor is installed on the slide. The output shaft of the lifting motor vertically passes through the slide and is fixedly installed with a gear, which meshes with the rack.

[0020] By adopting the above technical solution, the multi-rotating arm can be raised and lowered synchronously within the range of the column to cooperate with the transfer action.

[0021] In summary, the present application includes at least one of the following beneficial technical effects:

[0022] The robot is equipped with two special suction cup assemblies, one of which can be flipped, and is equipped with an air source control box and a ventilation pipe connection control structure to automatically alternate the stamping plates, and to transfer the stamping plates with thin sheet structures. It can also synchronously transfer multiple parts after cutting at one time, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of this equipment.

[0024] Figure 2 It is a three-dimensional structural schematic diagram of the device from another angle.

[0025] Figure 3 This is a top view of the structural plan.

[0026] Figure 4It is a partial enlarged schematic diagram of part A.

[0027] Figure 5 It is a partial enlarged schematic diagram of part B.

[0028] Reference numerals:

[0029] 1. First suction cup assembly; 11. Main rod; 12. Support rod; 13. U-shaped buckle; 14. Suction cup; 15. Quick plug;

[0030] 2. Air source control box;

[0031] 3. Multi-axis horizontal rotating arm; 31. First rotating seat; 32. First swing arm; 33. Second rotating seat; 34. Second swing arm; 35. Third rotating seat; 351. Rotating arm motor; 352. Output flange; 36. Third swing arm; 37. Fourth swing arm;

[0032] 4. Lifting mechanism; 41. Guide rail; 42. Rack; 43. Slide plate; 44. Lifting motor; 45. Lifting arm;

[0033] 5. Column;

[0034] 6. Distribution box;

[0035] 7. Second suction cup assembly;

[0036] 8. Flipping mechanism; 81. Connecting plate; 82. Connecting seat; 83. Flipping motor. DETAILED DESCRIPTION

[0037] The present application is further described in detail below in conjunction with the accompanying drawings.

[0038] See attached Figure 1 , 2 As shown, a five-axis flip handling robot includes a distribution box 6, a lifting mechanism 4, a multi-axis horizontal rotating arm 3, a first suction cup assembly 1 and a second suction cup assembly 7.

[0039] A column 5 is fixedly mounted on the upper end of the distribution box 6, and the column 5 is connected to the multi-axis horizontal rotating arm 3 through the lifting mechanism 4, and the lifting mechanism 4 can drive the multi-axis horizontal rotating arm 3 to move up and down along the column 5;

[0040] The movable end of the multi-axis horizontal rotating arm 3 is installed with a first suction cup assembly 1 and a flipping mechanism 8, and the driving end of the flipping mechanism 8 is installed with a second suction cup assembly 7. The second suction cup assembly 7 can flip 180° around the flipping mechanism 8, and can be attached to the lower end of the first suction cup assembly 1 to adsorb the stamping plate workpiece and carry the stamping plate to flip 180° to the other side.

[0041] The first suction cup assembly 1 and the second suction cup assembly 7 are connected to the air source control box 2 through ventilation pipes, and the air source control box 2 is installed on the multi-axis horizontal rotating arm 3. The ventilation pipe is not shown in the drawings, and a conventional connection method can be used.

[0042] See attached Figure 3 As shown, in this embodiment, the multi-axis horizontal rotating arm 3 includes a first rotating seat 31, a first swing arm 32, a second rotating seat 33, a second swing arm 34, a third rotating seat 35 and a third swing arm 36.

[0043] The fixed end of the first rotating seat 31 is connected to the lifting mechanism 4, the movable end of the first rotating seat 31 is connected to one end of the first swing arm 32, the other end of the first swing arm 32 is connected to one end of the second rotating seat 33, the other end of the second rotating seat 33 is connected to one end of the second swing arm 34, the other end of the second swing arm 34 is connected to one end of the third rotating seat 35, the other end of the third rotating seat 35 is connected to the third swing arm 36, and the other end of the third swing arm 36 is connected to the first suction cup assembly 1; the rotation axes of the above-mentioned first, second and third rotating seats 35 are all arranged in the vertical direction, and the first swing arm 32, the second swing arm 34 and the third swing arm 36 can rotate in the horizontal plane.

[0044] See attached Figure 2 As shown, the output end of the third rotating seat 35 is also connected to a flipping mechanism 8, which is connected to the fourth swing arm 37, and the other end of the fourth swing arm 37 is connected to the second suction cup assembly 7. The rotating shaft of the flipping mechanism 8 is arranged horizontally, and can drive the fourth swing arm 37 to flip 180°, and carry the second suction cup assembly 7 to flip synchronously, and the second suction cup assembly 7 is attached to the lower end of the first suction cup assembly 1, or is in a reverse symmetrical state with the first suction cup assembly 1.

[0045] See attached Figure 4 As shown, the third rotating seat 35 includes a rotating arm motor 351 and an output flange 352. The main housing of the rotating arm motor 351 is fixedly mounted on the end of the second swing arm 34. The output flange 352 is coaxially fixedly mounted on the output shaft of the rotating arm motor 351. The output flange 352 is fixedly connected to the end of the third swing arm 36. The rotating arm motor 351 drives the output flange 352 to rotate, thereby driving the third swing arm 36 to rotate with the output shaft of the rotating arm motor 351 as the axis. In this embodiment, the first, second and third rotating seats 35 have the same structure.

[0046] See attached Figure 4As shown, the flipping mechanism 8 includes a connecting seat 82, a connecting plate 81 and a flipping motor 83. The connecting seat 82 is fixedly connected to the output flange 352 of the third rotating seat 35, and the connecting seat 82 can rotate in the horizontal plane with the third rotating seat 35; the flipping motor 83 is installed on one side of the connecting seat 82, and the output shaft of the flipping motor 83 is arranged in the horizontal direction and is perpendicular to the third swing arm 36. The output shaft of the flipping motor 83 is fixedly connected to the connecting plate 81, and the fourth swing arm 37 is fixedly connected to the connecting plate 81. The flipping motor 83 drives the connecting plate 81 to rotate, thereby driving the fourth swing arm 37 to rotate.

[0047] The flip motor 83 in this embodiment adopts a harmonic reducer.

[0048] See attached Figure 5 As shown, the lifting mechanism 4 includes a guide rail 41, a slide plate 43, a rack 42, a gear and a lifting motor 44. Two vertical guide rails 41 are symmetrically installed on both sides of the front end of the column 5. The two guide rails 41 are slidably connected with a slide plate 43 in the upper limit position, and the slide plate 43 can move up and down along the guide rails 41; a rack 42 is fixedly installed at the front end of the column 5 between the two guide rails 41, and the rack 42 is arranged in a vertical direction. A lifting motor 44 is installed on the slide plate 43, and the output shaft of the lifting motor 44 vertically passes through the slide plate 43 and is fixedly installed with a gear, which meshes with the rack 42. When working, the lifting motor 44 drives the gear to rotate, and the gear meshes with the rack 42, thereby controlling the slide plate 43 to move up and down along the guide rail 41.

[0049] See attached Figure 3 As shown, the first suction cup assembly 1 includes a main rod 11, a support rod 12, a suction cup 14 and a quick plug 15. The middle of the main rod 11 is vertically fixed to the end of the third swing arm 36. A plurality of support rods 12 are spaced and connected on both sides of the main rod 11 in the horizontal direction. The support rods 12 are all horizontal straight rods arranged in a cantilevered manner. A suction cup 14 is fixed to each cantilever end of the support rod 12. The openings of the suction cups 14 have the same direction and are perpendicular to the support rod 12. The connection positions of the main rod 11 and the support rod 12 are connected by U-shaped buckles 13, and the support rods 12 are arranged perpendicular to the main rod 11. The connection positions of the support rod 12 and the suction cup are connected by U-shaped buckles 13, and the suction cup 14 can rotate around the connection axis.

[0050] The structure of the second suction cup assembly 7 is the same as that of the first suction cup assembly 1 , and the second suction cup assembly 7 is fixedly connected to the end of the fourth swing arm 37 .

[0051] Two quick connectors are fixedly installed on the third swing arm 36 and the fourth swing arm 37 close to the third rotating seat 35, respectively. The suction cup 14 of the first suction cup assembly 1 is plugged into the quick connector on the third swing arm 36 through a ventilation pipe, and the suction cup 14 of the second suction cup assembly 7 is plugged into the quick connector on the fourth swing arm 37 through a ventilation pipe. The input ends of the quick connectors are connected to the air source control box 2 through air pipes.

[0052] The quick connector is connected to the air source control box 2 through an air pipe. A vacuum generator and multiple solenoid valves are arranged in the air source control box 2. The vacuum generator is connected to multiple solenoid valves. Each solenoid valve is connected to a quick connector. Each quick connector controls a group of suction cups. By controlling the opening and closing of the solenoid valve, different suction cups are controlled in groups. The air source control box 2 is also equipped with a pressure gauge, which can display the corresponding air pressure, so as to facilitate the observation of the current working status.

[0053] Multiple solenoid valves are controlled by the distribution box 6 to perform pick-up and place actions respectively. In this embodiment, the suction cups on both sides of the main rod 11 are divided into two groups and can be controlled separately, so that parts of various specifications can be sucked at one time and placed in different transfer positions in groups.

[0054] The quick plug 15 can realize the quick connection of the suction cup and the adjustment and installation of the suction cup position. In production, the position of the suction cup on the suction cup rack can be adjusted according to the main part and the secondary part. One set of ventilation pipes is connected to the main part, and the other set of ventilation pipes is connected to the secondary part, so as to realize the synchronous movement processing of the main and secondary parts after processing.

[0055] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A five-axis flip handling robot, characterized in that: The invention comprises a distribution box (6), a lifting mechanism (4), a multi-axis horizontal rotating arm (3), a first suction cup assembly (1) and a second suction cup assembly (7); a column (5) is fixedly mounted on the upper end of the distribution box (6); the column (5) is connected to the multi-axis horizontal rotating arm (3) via the lifting mechanism (4); the first suction cup assembly (1) and a turning mechanism (8) are mounted on the movable end of the multi-axis horizontal rotating arm (3); a second suction cup assembly (7) is mounted on the driving end of the turning mechanism (8); the second suction cup assembly (7) can turn around the turning mechanism (8); the first suction cup assembly (1) and the second suction cup assembly (7) are respectively connected to an air source control box (2) via a ventilation pipe; the air source control box (2) is mounted on the multi-axis horizontal rotating arm (3).

2. The five-axis flip handling robot according to claim 1, characterized in that: The first suction cup assembly (1) and the second suction cup assembly (7) both comprise a plurality of groups of suction cups, each group of suction cups comprising one or more suction cups (14); each of the plurality of groups of suction cups is respectively connected to the air source control box (2).

3. The five-axis flip handling robot according to claim 2, characterized in that: The multi-axis horizontal rotating arm (3) comprises a first rotating seat (31), a first swing arm (32), a second rotating seat (33), a second swing arm (34), a third rotating seat (35) and a third swing arm (36) which are connected in sequence. The rotating axes of the first rotating seat (31), the second rotating seat (33) and the third rotating seat (35) are all arranged in a vertical direction. The first swing arm (32), the second swing arm (34) and the third swing arm (36) can rotate in a horizontal plane. The output end of the third rotating seat (35) is also connected to a flipping mechanism (8), the flipping mechanism (8) is connected to a fourth swing arm (37), the other end of the fourth swing arm (37) is connected to the second suction cup assembly (7), the rotating axis of the flipping mechanism (8) is arranged horizontally, and can drive the fourth swing arm (37) to flip 180 degrees.

4. The five-axis flip handling robot according to claim 3, characterized in that: The third rotating seat (35) comprises a rotating arm motor (351) and an output flange (352); a main housing of the rotating arm motor (351) is fixedly mounted on the end of the second swing arm (34); the output flange (352) is coaxially fixedly mounted on the output shaft of the rotating arm motor (351); and the output flange (352) is fixedly connected to the end of the third swing arm (36).

5. The five-axis flip handling robot according to claim 3, characterized in that: The flipping mechanism (8) comprises a connecting seat (82), a connecting plate (81) and a flipping motor (83); the connecting seat (82) is fixedly connected to an output flange (352) of the third rotating seat (35); the connecting seat (82) can rotate in a horizontal plane along with the third rotating seat (35); a flipping motor (83) is installed on one side of the connecting seat (82); an output shaft of the flipping motor (83) is arranged in a horizontal direction and is perpendicular to the third swing arm (36); the output shaft of the flipping motor (83) is fixedly connected to a connecting plate (81); and a fourth swing arm (37) is fixedly connected to the connecting plate (81).

6. The five-axis flip handling robot according to claim 3, characterized in that: Two quick connectors are fixedly mounted on the third swing arm (36) and the fourth swing arm (37) close to the third rotating seat (35), respectively. The suction cup of the first suction cup assembly (1) is plugged into the quick connector on the third swing arm (36) through a ventilation pipe, and the suction cup of the second suction cup assembly (7) is plugged into the quick connector on the fourth swing arm (37) through a ventilation pipe. The quick connector is connected to the air source control box (2) through an air pipe. A vacuum generator and a plurality of solenoid valves are arranged in the air source control box (2). The vacuum generator is connected to the plurality of solenoid valves. Each solenoid valve is connected to a corresponding quick connector. Each quick connector controls a group of suction cups. By controlling the opening and closing of the solenoid valves, different suction cups are controlled in groups.

7. The five-axis flip handling robot according to claim 1, characterized in that: The first suction cup assembly (1) comprises a main rod (11), a support rod (12), a suction cup and a quick plug (15); the middle of the main rod (11) is vertically fixedly connected to the end of the third swing arm (36); a plurality of support rods (12) are spaced apart and connected to both sides of the main rod (11) in the horizontal radial direction; the support rods (12) are all horizontal straight rods arranged in a cantilevered manner; a suction cup is respectively fixed to the cantilever end of the support rod (12); the openings of the suction cups are in the same direction and are perpendicular to the support rod (12); the structure of the second suction cup assembly (7) is the same as that of the first suction cup assembly (1).

8. The five-axis flip handling robot according to claim 1, characterized in that: The lifting mechanism (4) comprises a guide rail (41), a slide plate (43), a rack (42), a gear and a lifting motor (44); two vertical guide rails (41) are symmetrically installed on both sides of the front end of the column (5); a slide plate (43) is connected to the upper limit position of the two guide rails (41); the slide plate (43) can move up and down along the guide rails (41); a rack (42) is fixedly installed at the front end of the column (5) between the two guide rails (41); the rack (42) is arranged in a vertical direction; a lifting motor (44) is installed on the slide plate (43); the output shaft of the lifting motor (44) vertically passes through the slide plate (43) and is fixedly installed with a gear; the gear is meshed with the rack (42).

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