Three-axis truss multi-station manipulator

Abstract

The utility model discloses a three-axis truss multi-station manipulator which comprises a cross beam, the cross beam is provided with an X-axis moving component, a Z-axis lifting component and a Y-axis moving component, the stroke of the X-axis moving component is in the same direction as that of the cross beam, the Z-axis lifting component is arranged on the X-axis moving component, the stroke of the Z-axis lifting component is in the vertical direction, and the Y-axis moving component is arranged at the tail end of the Z-axis lifting component and the stroke of the Y-axis moving component is perpendicular to the cross beam. The X-axis moving assembly comprises an X-axis supporting plate and an X-axis servo motor driving the X-axis supporting plate to move in the same direction along the cross beam. The Z-axis lifting assembly comprises a Z-axis lifting motor fixedly arranged on the X-axis supporting plate and a vertical transmission box driven by the Z-axis lifting motor to do lifting motion. The Y-axis moving assembly comprises an upper mounting plate and a lower mounting plate which extend in the direction perpendicular to the cross beam, and further comprises a Y-axis servo motor driving the lower mounting plate to move relative to the upper mounting plate. The mechanism realizes circulating exchange among multiple stations of workpieces, and is simple and compact in structure and easy to realize; and the Z-axis balance cylinder is arranged to reduce the power of the Z-axis lifting motor.

Description

Technical Field

[0001] The utility model relates to the field of material transfer manipulators, in particular to a three-axis truss multi-station manipulator. Background Art

[0002] As an automated production tool, truss robots are widely used in production. With the development of industry, automatic truss robots are widely used in various fields of mechanical manufacturing. According to the number of motion axes of the robot, two-axis and three-axis truss robots are common. Existing three-axis truss robots generally have three linear motion axes of X, Y, and Z. However, existing truss robots cannot realize the cyclic exchange of workpieces between multiple stations through the end picker assembly; especially when the weight of the end picker assembly is heavy, a single set of Z-axis lifting motors cannot balance the weight of the end picker assembly, and the power consumption of the Z-axis lifting motor is large. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a three-axis truss multi-station manipulator, which enables the truss manipulator to realize the cyclic exchange of workpieces between multiple stations, and the weight of the end pick-up assembly used to pick up the workpiece is also well balanced, so that the power required by the Z-axis servo motor is reduced.

[0004] The technical solution of the utility model is: a three-axis truss multi-station manipulator, which is used to provide spatial movement capability for an end picker assembly, the end picker assembly has a main axis and material-picking arms evenly distributed along the length direction of the main axis, and multiple groups of material-picking arms are perpendicular to the main axis direction and extend to each station; it is characterized by: comprising a crossbeam, on which an X-axis moving assembly with a stroke in the same direction as the crossbeam is provided, a Z-axis lifting assembly arranged on the X-axis moving assembly with a stroke in the vertical direction, and a Y-axis moving assembly arranged at the end of the Z-axis lifting assembly and with a stroke perpendicular to the crossbeam;

[0005] The X-axis moving assembly includes an X-axis support plate and an X-axis servo motor that drives the X-axis support plate to move in the same direction along the crossbeam;

[0006] The Z-axis lifting assembly includes a Z-axis lifting motor fixed on the X-axis support plate and a vertical transmission box that performs lifting motion under the drive of the Z-axis lifting motor;

[0007] The Y-axis moving assembly includes an upper mounting plate and a lower mounting plate extending perpendicular to the direction of the crossbeam, and also includes a Y-axis servo motor that drives the lower mounting plate to move relative to the upper mounting plate; the lower end of the vertical transmission box is fixedly disposed on the upper mounting plate, and the end picker assembly is disposed at one end of the lower mounting plate.

[0008] Its further technical solution is:

[0009] The X-axis support plate is also provided with a Z-axis balancing cylinder, and the Z-axis balancing cylinder and the Z-axis lifting motor are respectively arranged on both sides of the vertical transmission box, and the moving output end of the Z-axis balancing cylinder is fixedly connected to the vertical transmission box through a connecting plate.

[0010] Its further technical solution is:

[0011] The X-axis servo motor is arranged on the A surface of the X-axis support plate, and the B surface of the X-axis support plate is provided with an X-axis gear transmission-connected to the output end of the X-axis servo motor, and the X-axis gear is meshed with the X-axis rack arranged on the crossbeam.

[0012] Its further technical solution is:

[0013] An X-axis sliding block is provided on the B surface of the X-axis supporting plate, and the X-axis supporting plate is slidably connected to the crossbeam through an X-axis guide rail.

[0014] Its further technical solution is:

[0015] The first limit blocks are arranged on both ends of the crossbeam located on the X-axis guide rail.

[0016] Its further technical solution is:

[0017] The Z-axis lifting motor is fixedly connected to the X-axis support plate through a mounting plate. A Z-axis gear that is transmission-connected to the output end of the Z-axis lifting motor is provided on the side of the mounting plate opposite to the vertical transmission box. The Z-axis gear is meshingly connected to a vertical rack arranged on one side of the vertical transmission box.

[0018] Its further technical solution is:

[0019] The end faces of the vertical transmission box opposite to the X-axis support plate are respectively provided with matching Z-direction slide rails and Z-direction sliders, and the vertical transmission box is slidably connected to the X-axis support plate through the Z-direction slider.

[0020] Its further technical solution is:

[0021] A Y-axis slide rail is provided on the end surface of the lower mounting plate opposite to the upper mounting plate, and second limit blocks are provided at both ends of the Y-axis slide rail.

[0022] Its further technical solution is:

[0023] The Z-axis lifting motor is equipped with a brake device.

[0024] The beneficial technical effects of the utility model are: the structure can realize the cyclic exchange of workpieces between multiple stations, and the structure is simple, compact and easy to implement; especially when the weight of the end pick-up assembly is heavy, the weight of the end pick-up assembly is balanced by setting a Z-axis balancing cylinder to reduce the power of the Z-axis lifting motor; the Z-axis lifting motor is equipped with a brake device to prevent the end pick-up assembly from falling in an abnormal state. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0026] Figure 2 This is a schematic diagram of the Z-axis lifting assembly of the utility model;

[0027] Figure 3 This is a schematic diagram of the X-axis gear of the utility model when viewed from above;

[0028] Figure 4 This is a schematic diagram of the X-axis moving assembly of the utility model;

[0029] Figure 5 This is a front view of the Z-axis lifting assembly of the utility model;

[0030] Figure 6 This is a schematic diagram of the Y-axis moving assembly of the utility model;

[0031] Figure 7 This is a front view of the Y-axis moving assembly of the utility model;

[0032] in:

[0033] 1. Beam;

[0034] 2. X-axis moving assembly; 21. X-axis support plate; 22. X-axis servo motor; 23. X-axis guide rail; 24. X-axis slider; 25. X-axis gear; 26. X-axis rack; 27. First limit block;

[0035] 3. Z-axis lifting assembly; 31. Z-axis lifting motor; 32. Vertical transmission box; 33. Z-axis gear; 34. Vertical rack; 35. Z-axis slide rail; 36. Z-axis balancing cylinder;

[0036] 4. Y-axis moving assembly; 41. upper mounting plate; 42. lower mounting plate; 43. Y-axis servo motor; 44. Y-axis gear; 45. Y-axis rack; 46. Y-axis slider; 47. Y-axis slide rail; 48. second limit block;

[0037] 5. End picker assembly; 51. Spindle; 52. Material picking arm. DETAILED DESCRIPTION

[0038] In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the specific implementation methods of the utility model are further described in detail below in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0039] like Figure 1As shown, a three-axis truss multi-station manipulator includes a horizontal beam 1, and both ends of the beam 1 are fixedly connected to a support member respectively.

[0040] The crossbeam 1 is provided with an X-axis moving component 2 with a stroke in the same direction as the crossbeam 1, a Z-axis lifting component 3 arranged on the X-axis moving component 2 with a stroke in the vertical direction, and a Y-axis moving component 4 arranged at the end of the Z-axis lifting component 3 and with a stroke perpendicular to the crossbeam 1. One end of the Y-axis moving component 4 is provided with an end pick-up component 5 for picking up a workpiece.

[0041] The end picker assembly 5 includes a main shaft 51 and a picking arm 52 evenly distributed along the length direction of the main shaft 51. The main shaft 51 extends along the direction of the beam 1. The picking arm 52 is perpendicular to the direction of the main shaft 51 and extends toward each workstation. The lower end surface of the picking arm 52 is provided with an adsorption assembly for picking up workpieces.

[0042] like Figures 2 to 5 The X-axis moving assembly 2 includes an X-axis support plate 21 and an X-axis servo motor 22. The X-axis support plate 21 is slidably connected to the crossbeam 1 through an X-axis guide rail 23. The X-axis servo motor 22 is arranged on the A surface of the X-axis support plate 21. The B surface of the X-axis support plate 21 is provided with an X-axis slider 24 and an X-axis gear 25 which is transmission-connected to the output end of the X-axis servo motor 22. The X-axis gear 25 is meshed with an X-axis rack 26 arranged on the crossbeam 1, and the X-axis slider 24 is matched with the X-axis guide rail 23. Under the transmission drive of the X-axis servo motor 22, the X-axis gear 25 drives the X-axis support plate 21 to move in the same direction along the crossbeam 1 through the X-axis rack 26.

[0043] Furthermore, first limit blocks 27 are provided on both ends of the X-axis guide rail 23 on the crossbeam 1 to limit the displacement stroke of the X-axis support plate 21 .

[0044] The Z-axis lifting assembly 3 is arranged on the X-axis support plate 21, and includes a Z-axis lifting motor 31 and a vertical transmission box 32 that performs lifting motion under the drive of the Z-axis lifting motor 31. The Z-axis lifting motor 31 and the X-axis servo motor 22 are respectively located on both sides of the A surface of the X-axis support plate 21, and the vertical transmission box 32 is located between the Z-axis lifting motor 31 and the X-axis servo motor 22. Specifically, the Z-axis lifting motor 31 is fixedly connected to the X-axis support plate 21 through a mounting plate, and a Z-axis gear 33 that is transmission-connected to the output end of the Z-axis lifting motor 31 is provided on a side of the mounting plate opposite to the vertical transmission box 32, and the Z-axis gear 33 is meshedly connected with a vertical rack 34 arranged on one side of the vertical transmission box 32.

[0045] Furthermore, the end faces of the vertical transmission box 32 opposite to the X-axis support plate 21 are respectively provided with matching Z-axis slide rails 35 and Z-axis sliders. When the Z-axis lifting motor 31 is activated, the vertical rack 34 drives the vertical transmission box 32 to slide in the vertical direction and connect to the Z-axis slider through the transmission drive of the Z-axis gear 33.

[0046] Furthermore, the Z-axis lifting motor 31 is equipped with a brake device to ensure that the height before shutdown can be maintained in the shutdown state to prevent the Y-axis moving component 4 and the end picker component 5 from falling with the vertical transmission box 32.

[0047] Furthermore, a Z-axis balancing cylinder 36 is also provided on the X-axis support plate 21, and the Z-axis balancing cylinder 36 is arranged between the vertical transmission box 32 and the X-axis servo motor 22. The moving output end of the Z-axis balancing cylinder 36 is fixedly connected to the vertical transmission box 32 through a connecting plate. The Z-axis balancing cylinder 36 is used to balance the weight of the Y-axis moving assembly 4 and the end pick-up assembly 5 to reduce the power and electricity consumption required by the Z-axis lifting motor 31.

[0048] like Figure 6 to Figure 7 As shown, the Y-axis moving assembly 4 is fixed to the lower end of the vertical transmission box 32. Specifically, the Y-axis moving assembly 4 includes an upper mounting plate 41 and a lower mounting plate 42 extending perpendicular to the direction of the beam 1, and the vertical transmission box 32 is fixedly connected to the upper mounting plate 41.

[0049] The upper end surface of the upper mounting plate 41 is also provided with a Y-axis servo motor 43, and the lower end surface of the upper mounting plate 41 is provided with a Y-axis gear 44 which is transmission-connected to the output end of the Y-axis servo motor 43. The Y-axis gear 44 is meshedly connected through a Y-axis rack 45 on the lower mounting plate 42, and the Y-axis rack 45 extends in the same direction as the upper mounting plate 41 and the lower mounting plate 42.

[0050] The opposite end surfaces of the upper mounting plate 41 and the lower mounting plate 42 are provided with matching Y-axis sliders 46 and Y-axis slide rails 47. The end picker assembly 5 is arranged at one end of the lower mounting plate 42. Driven by the Y-axis servo motor 43, the lower mounting plate 42 is driven to move relative to the upper mounting plate 41 in a direction perpendicular to the beam 1 through the transmission action of the Y-axis gear 44 and the Y-axis rack 45.

[0051] Furthermore, second limit blocks 48 are provided at both ends of the Y-axis slide rail 47 on the lower mounting plate 42 to limit the relative displacement stroke of the upper mounting plate 41 and the lower mounting plate 42 .

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A three-axis truss multi-station manipulator, used to provide spatial movement capability for an end picker assembly (5), the end picker assembly (5) having a main axis (51) and material picking arms (52) evenly distributed along the length direction of the main axis (51), and multiple groups of material picking arms (52) are perpendicular to the main axis (51) and extend toward each station; characterized in that: The invention comprises a crossbeam (1), wherein the crossbeam (1) is provided with an X-axis moving component (2) having a stroke in the same direction as the crossbeam (1), a Z-axis lifting component (3) arranged on the X-axis moving component (2) and having a stroke in a vertical direction, and a Y-axis moving component (4) arranged at the end of the Z-axis lifting component (3) and having a stroke perpendicular to the crossbeam (1); The X-axis moving assembly (2) comprises an X-axis support plate (21) and an X-axis servo motor (22) for driving the X-axis support plate (21) to move in the same direction as the crossbeam (1); The Z-axis lifting assembly (3) comprises a Z-axis lifting motor (31) fixedly mounted on the X-axis support plate (21) and a vertical transmission box (32) that performs lifting motion under the drive of the Z-axis lifting motor (31); The Y-axis moving assembly (4) includes an upper mounting plate (41) and a lower mounting plate (42) extending perpendicularly to the direction of the crossbeam (1), and also includes a Y-axis servo motor (43) for driving the lower mounting plate (42) to move relative to the upper mounting plate (41); the lower end of the vertical transmission box (32) is fixedly arranged on the upper mounting plate (41), and the end picker assembly (5) is arranged at one end of the lower mounting plate (42).

2. A three-axis truss multi-station manipulator according to claim 1, characterized in that: A Z-axis balancing cylinder (36) is also provided on the X-axis support plate (21), and the Z-axis balancing cylinder (36) and the Z-axis lifting motor (31) are respectively arranged on both sides of the vertical transmission box (32), and the moving output end of the Z-axis balancing cylinder (36) is fixedly connected to the vertical transmission box (32) through a connecting plate.

3. A three-axis truss multi-station manipulator according to claim 1, characterized in that: The X-axis servo motor (22) is arranged on the A surface of the X-axis support plate (21), and the B surface of the X-axis support plate (21) is provided with an X-axis gear (25) which is transmission-connected to the output end of the X-axis servo motor (22), and the X-axis gear (25) is meshed with an X-axis rack (26) arranged on the crossbeam (1).

4. A three-axis truss multi-station manipulator according to claim 1, characterized in that: An X-axis sliding block (24) is provided on the B surface of the X-axis support plate (21), and the X-axis support plate (21) is slidably connected to the crossbeam (1) via an X-axis guide rail (23).

5. The three-axis truss multi-station manipulator according to claim 1, characterized in that: First limit blocks (27) are provided on both ends of the crossbeam (1) located on the X-axis guide rail (23).

6. The three-axis truss multi-station manipulator according to claim 1, characterized in that: The Z-axis lifting motor (31) is fixedly connected to the X-axis support plate (21) via a mounting plate, and a Z-axis gear (33) drivingly connected to the output end of the Z-axis lifting motor (31) is provided on a side of the mounting plate opposite to the vertical transmission box (32), and the Z-axis gear (33) is meshingly connected to a vertical rack (34) arranged on one side of the vertical transmission box (32).

7. The three-axis truss multi-station manipulator according to claim 1, characterized in that: The end faces of the vertical transmission box (32) opposite to the X-axis support plate (21) are respectively provided with matching Z-direction slide rails (35) and Z-direction sliders, and the vertical transmission box (32) is slidably connected to the X-axis support plate (21) via the Z-direction slider.

8. The three-axis truss multi-station manipulator according to claim 1, characterized in that: A Y-axis slide rail (47) is provided on the end surface of the lower mounting plate (42) opposite to the upper mounting plate (41), and second limit blocks (48) are provided at both ends of the Y-axis slide rail (47).

9. The three-axis truss multi-station manipulator according to claim 1, characterized in that: The Z-axis lifting motor (31) is equipped with a brake device.

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