Polar coordinate four-axis manipulator

Abstract

The utility model relates to lens grabbing equipment, in particular to a polar coordinate four-axis manipulator. Comprising a material taking clamping jaw, a polar coordinate Z-axis fixing plate, a material taking jaw mounting plate, a polar coordinate rotating large R-axis assembly, a polar coordinate transplanting X-axis assembly, a polar coordinate Z-axis assembly and a polar coordinate material taking rotating R-axis assembly. The polar coordinate rotating large R-axis assembly comprises a polar coordinate fixing platform, a polar coordinate rotating platform and a servo driving module; the polar coordinate transplanting X-axis assembly comprises a first X-axis linear sliding table module; the material taking claw mounting plate is connected to the Z-axis fixing plate in a Z-axis moving mode. The polar coordinate Z-axis assembly comprises a Z-axis linear sliding table module which is fixedly installed on the Z-axis fixing plate and used for driving the material taking claw mounting plate to do lifting linear motion. The material taking clamping jaw is connected to the material taking jaw mounting plate through a rotating shaft in the mode of rotating around the Z axis. The utility model provides a polar coordinate four-axis manipulator which is simple in structure and low in cost.

Description

Technical Field

[0001] The present application relates to a lens grasping device, in particular to a polar coordinate four-axis manipulator. Background Art

[0002] The robot arm is the most widely used automated mechanical device in the field of robotics technology, and it can often be seen in lens processing and manufacturing. The lens grabbing manipulator in the related technology is mostly a multi-joint robot composed of multiple rotating and swinging mechanisms. This type of robot has a compact structure, a large working space, and movements that are closer to human movements, but the structure of the manipulator is complex and the cost is very high. Summary of the invention

[0003] In view of this, the present application provides a polar coordinate four-axis manipulator, which has a simple structure and low cost.

[0004] In order to achieve the above objectives, this application is implemented through the following technical solutions:

[0005] A polar coordinate four-axis manipulator, characterized in that it includes a material picking clamp, a polar coordinate Z-axis fixing plate, a material picking clamp mounting plate, a polar coordinate rotating large R-axis assembly, a polar coordinate transplanting X-axis assembly, a polar coordinate Z-axis assembly and a polar coordinate material picking rotating R-axis assembly;

[0006] The polar coordinate rotating large R-axis assembly includes a polar coordinate fixed platform fixedly arranged above the workbench, a polar coordinate rotating platform connected to the polar coordinate fixed platform in a manner of rotating around the Z axis, and a servo drive module for driving the polar coordinate rotating platform to rotate;

[0007] The polar coordinate transfer X-axis assembly includes a first X-axis linear slide module fixedly mounted on a polar coordinate rotating platform for driving a polar coordinate Z-axis fixed plate to move horizontally and linearly;

[0008] The pick-up claw mounting plate is connected to the Z-axis fixed plate in a Z-axis movable manner, and the polar coordinate Z-axis assembly includes a Z-axis linear slide module fixedly mounted on the Z-axis fixed plate for driving the pick-up claw mounting plate to move up and down in a linear manner;

[0009] The material picking clamp is connected to the material picking claw mounting plate through a rotating shaft in a manner of rotating around the Z axis, and the polar coordinate material picking rotating R axis assembly is fixedly mounted on the material picking claw mounting plate to drive the rotating shaft to rotate.

[0010] The above-mentioned polar coordinate four-axis manipulator of the present application is equipped with a polar coordinate rotating large R-axis component, which can be controlled by a polar coordinate system and is easy to program. Other axes mostly use linear slide modules with a simple structure and low cost. The material picking claws can rotate by themselves and can rotate the material to a uniform angle, which is convenient for subsequent work.

[0011] In some embodiments, the polar coordinate material picking rotating R-axis assembly includes a rotating drive motor fixedly mounted on a material picking claw mounting plate, two synchronous wheels respectively arranged on an output shaft of the rotating drive motor and a rotating shaft, and a synchronous belt drivingly connected between the two synchronous wheels. The use of a synchronous belt for driving has high stability and precision.

[0012] In some embodiments, the polar coordinate Z-axis assembly further comprises a connecting paddle fixedly mounted on the slide of the Z-axis linear slide module, the side of the connecting paddle is provided with a notch, the material-collecting claw mounting plate is inserted into the notch, the connecting paddle pushes the material-collecting claw mounting plate to move downward synchronously through the upper end face of the notch when moving downward, and pulls the material-collecting claw mounting plate to move upward synchronously through the lower end face of the notch when moving upward. This embodiment uses a connecting paddle mounted on the slide of the linear slide module to push the material-collecting claw mounting plate to move, and such a pushing method has a simple structure and good stability.

[0013] In some embodiments, the material picking clamp is a pneumatic finger that can open and close.

[0014] In some embodiments, a feeding assembly is also included, and the feeding assembly includes a feeding X-axis linear slide module installed on a workbench and a material picking bracket fixedly installed on the slide of the feeding X-axis linear slide module, the material picking bracket is provided with a film suction device that can generate negative pressure adsorption, and a material picking base for placing materials is provided on the film suction device, and the film suction device is used to provide suction to the bottom of the material placed on the material picking base, thereby adsorbing the lower film layer of the material. In this embodiment, a feeding assembly is also provided, which can move the material to the bottom of the material picking clamp. Since the lower part of the lens will be attached to the lower film layer, it plays a protective role, wherein the feeding assembly is also provided with a film suction device, which can adsorb the bottom of the lens, so that when the objective lens is grasped by the material picking clamp, since the lower film layer is adsorbed, the lower film layer can be separated from the lens, which plays a role of automatic film tearing.

[0015] It can be seen from the above technical solution that the present application has at least the following advantages and positive effects:

[0016] The above-mentioned polar coordinate four-axis manipulator of the present application is equipped with a polar coordinate rotating large R-axis component, which can be controlled by a polar coordinate system and is easy to program. Other axes mostly use linear slide modules with a simple structure and low cost. The material picking claws can rotate by themselves and can rotate the material to a uniform angle, which is convenient for subsequent work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0018] Figure 2 This is the main view of an embodiment of the present application.

[0019] Explanation of reference numerals: 1. Material picking clamp; 11. Rotating shaft; 2. Polar coordinate Z-axis fixing plate; 3. Material picking clamp mounting plate; 4. Polar coordinate rotating large R-axis assembly; 41. Polar coordinate fixing platform; 42. Polar coordinate rotating platform; 43. Servo drive module; 5. Polar coordinate transplanting X-axis assembly; 6. Polar coordinate Z-axis assembly; 61. Z-axis linear slide module; 62. Connecting paddle; 621. Notch; 7. Polar coordinate material picking rotating R-axis assembly; 71. Rotating drive motor; 72. Synchronous wheel; 73. Synchronous belt; 8. Feeding assembly; 81. Feeding X-axis linear slide module; 82. Material picking bracket; 83. Film suction device; 84. Material picking base; DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. The terms used in the implementation method of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0021] See also Figure 1 to Figure 2 A polar coordinate four-axis manipulator includes a material picking clamp 1, a polar coordinate Z-axis fixing plate 2, a material picking clamp mounting plate 3, a polar coordinate rotating large R-axis assembly 4, a polar coordinate transplanting X-axis assembly 5, a polar coordinate Z-axis assembly 6 and a polar coordinate material picking rotating R-axis assembly 7;

[0022] The polar coordinate rotating large R-axis assembly 4 includes a polar coordinate fixed platform 41 fixedly arranged above the workbench, a polar coordinate rotating platform 42 connected to the polar coordinate fixed platform 41 in a manner of rotating around the Z axis, and a servo drive module 43 for driving the polar coordinate rotating platform 42 to rotate; the workbench is not shown in the figure.

[0023] The polar coordinate transfer X-axis assembly 5 includes a first X-axis linear slide module fixedly mounted on the polar coordinate rotating platform 42 for driving the polar coordinate Z-axis fixed plate 2 to move horizontally and linearly;

[0024] The pick-up claw mounting plate 3 is connected to the Z-axis fixed plate by a guide rail in a Z-axis movable manner, and the polar coordinate Z-axis assembly 6 includes a Z-axis linear slide module 61 fixedly mounted on the Z-axis fixed plate for driving the pick-up claw mounting plate 3 to move up and down in a linear manner;

[0025] The material picking clamp 1 is connected to the material picking claw mounting plate 3 through a rotating shaft 11 in a manner of rotating around the Z axis, and the polar coordinate material picking rotating R axis assembly 7 is fixedly installed on the material picking claw mounting plate 3 to drive the rotating shaft 11 to rotate.

[0026] The above-mentioned polar coordinate four-axis manipulator of the present application is equipped with a polar coordinate rotating large R-axis component 4, which can be controlled by a polar coordinate system and is easy to program. Other axes mostly use linear slide modules with a simple structure and low cost. The material picking claw 1 can rotate by itself and can rotate the material to a uniform angle, which is convenient for subsequent work.

[0027] In some embodiments, the polar coordinate material picking rotating R-axis assembly 7 includes a rotating drive motor 71 fixedly mounted on the material picking claw mounting plate 3, two synchronous wheels 72 respectively arranged on the output shaft of the rotating drive motor 71 and the rotating shaft 11, and a synchronous belt 73 connected between the two synchronous wheels 72. The synchronous belt 73 is used for driving with high stability and precision.

[0028] In some embodiments, the polar coordinate Z-axis assembly 6 further includes a connecting paddle 62 fixedly mounted on the slide of the Z-axis linear slide module 61, and a notch 621 is provided on the side of the connecting paddle 62, and the material-picking claw mounting plate 3 is inserted into the notch 621. When the connecting paddle 62 moves downward, it pushes the material-picking claw mounting plate 3 to move downward synchronously through the upper end surface of the notch 621, and when the connecting paddle 62 moves upward, it pulls the material-picking claw mounting plate 3 to move upward synchronously through the lower end surface of the notch 621. This embodiment uses the connecting paddle 62 mounted on the slide of the linear slide module to push the material-picking claw mounting plate 3 to move, and such a pushing method has a simple structure and good stability.

[0029] In some embodiments, the material picking clamp 1 is a pneumatic finger that can open and close.

[0030] In some embodiments, a feeding assembly 8 is also included, and the feeding assembly 8 includes a feeding X-axis linear slide module 81 installed on a workbench and a material picking bracket 82 fixedly installed on the slide of the feeding X-axis linear slide module 81, and the material picking bracket 82 is provided with a film suction device 83 that can generate negative pressure adsorption, and a material picking base 84 for placing materials is provided on the film suction device 83, and the film suction device 83 is used to provide suction to the bottom of the material placed on the material picking base 84, so as to adsorb the lower film layer of the material. In this embodiment, a feeding assembly 8 is also provided, which can move the material to the bottom of the material picking clamp 1. Since the lower part of the lens will be attached to the lower film layer, it plays a protective role, wherein the feeding assembly 8 is also provided with a film suction device 83, which can adsorb the bottom of the lens, so that when the objective lens is grasped by the material picking clamp 1, the lower film layer is adsorbed, so that the lower film layer can be separated from the lens, which plays the role of automatic film tearing.

[0031] The following briefly describes the working process and use method of a polar coordinate four-axis manipulator in the above embodiment:

[0032] The lens is placed on the material picking base 84, the feeding assembly 8 moves the lens into place, the material picking clamp 1 descends to grab a lens and then rises, the material picking clamp 1 rotates under the drive of the synchronous belt 73, adjusts the lens to a suitable angle, the polar coordinate rotating platform 42 swings, offsets the lens to the corresponding position, the polar coordinate Z-axis assembly 6 moves, moves the lens to a suitable position, the material picking clamp descends and puts down the material to complete a grab, and then reciprocates to grab the material.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, rather than to limit them. Although the embodiments of the present application have been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. These modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A polar coordinate four-axis manipulator, characterized in that: It includes a material picking clamp, a polar coordinate Z-axis fixing plate, a material picking clamp mounting plate, a polar coordinate rotating large R-axis assembly, a polar coordinate transplanting X-axis assembly, a polar coordinate Z-axis assembly and a polar coordinate material picking rotating R-axis assembly; The polar coordinate rotating large R-axis assembly includes a polar coordinate fixed platform fixedly arranged above the workbench, a polar coordinate rotating platform connected to the polar coordinate fixed platform in a manner of rotating around the Z axis, and a servo drive module for driving the polar coordinate rotating platform to rotate; The polar coordinate transfer X-axis assembly comprises a first X-axis linear slide module fixedly mounted on a polar coordinate rotating platform for driving a polar coordinate Z-axis fixed plate to move horizontally and linearly; The pick-up claw mounting plate is connected to the Z-axis fixed plate in a Z-axis movable manner, and the polar coordinate Z-axis assembly includes a Z-axis linear slide module fixedly mounted on the Z-axis fixed plate for driving the pick-up claw mounting plate to move up and down in a linear manner; The material picking clamp is connected to the material picking claw mounting plate through a rotating shaft in a manner of rotating around the Z axis, and the polar coordinate material picking rotating R axis assembly is fixedly mounted on the material picking claw mounting plate to drive the rotating shaft to rotate.

2. A polar coordinate four-axis manipulator according to claim 1, characterized in that: The polar coordinate material picking rotating R-axis assembly comprises a rotating drive motor fixedly arranged on a material picking claw mounting plate, two synchronous wheels respectively arranged on an output shaft and a rotating shaft of the rotating drive motor, and a synchronous belt drivingly connected between the two synchronous wheels.

3. A polar coordinate four-axis manipulator according to claim 1, characterized in that: The polar coordinate Z-axis assembly also includes a connecting paddle fixedly arranged on the slide of the Z-axis linear slide module, and a notch is provided on the side of the connecting paddle, and the material picking claw mounting plate is inserted into the notch. When the connecting paddle moves downward, it pushes the material picking claw mounting plate to move downward synchronously through the upper end surface of the notch, and when the connecting paddle moves upward, it pulls the material picking claw mounting plate to move upward synchronously through the lower end surface of the notch.

4. The polar coordinate four-axis manipulator according to claim 1, characterized in that: The material taking clamping claw is a pneumatic finger that can open and close.

5. The polar coordinate four-axis manipulator according to claim 1, characterized in that: It also includes a feeding component, which includes a feeding X-axis linear slide module installed on a workbench and a material picking bracket fixedly installed on the slide of the feeding X-axis linear slide module, the material picking bracket is provided with a film suction device that can generate negative pressure adsorption, and the film suction device is provided with a material picking base for placing materials, and the film suction device is used to provide suction to the bottom of the material placed on the material picking base, thereby adsorbing the lower film layer of the material.

Images