Multifunctional manipulator automation equipment

Abstract

Multifunctional manipulator automation equipment relates to the technical field of automation equipment and comprises a lower rack, an upper rack is fixedly arranged on the upper side of the lower rack, stock bins are arranged in the lower rack and the upper rack, and a partition plate is arranged between the lower rack and the upper rack; two groups of four-axis structure manipulators are fixedly arranged on the upper part of the partition plate and are positioned on two sides of the stock bin, each four-axis structure manipulator comprises a fixed frame arranged on the partition plate, an X axis is fixedly arranged at the upper end of the fixed frame, a Y axis is horizontally and slidably arranged on the X axis, a Z axis is vertically and slidably arranged on the Y axis, and an R axis is rotatably arranged on the Z axis; and a pneumatic gripper is fixedly arranged on the R shaft. The double-station gantry is compact and light in structure, can complete double-station operation simultaneously, can work independently or simultaneously without mutual interference, and is high in positioning precision, stable, reliable, high in productivity and low in cost, so that the requirements of assembly line operation manufacturers are met, and the double-station gantry is wider in application range and more convenient to use.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to multifunctional manipulator automation equipment. Background Art

[0002] Labor for factory assembly lines is one of the top expenses in the industry. Automation plays a key role in saving labor and directly affects the UPH of the product. The assembly line occupies a large area and needs to be tested after installation before it can be used. Automated production requires a lot of equipment, complex structure and high cost. Utility Model Content

[0003] The utility model aims to provide a multifunctional manipulator automation equipment with a four-axis structure manipulator. The manipulator with two four-axis double gantry structures can significantly improve the production efficiency of the assembly line and reduce the production cost.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] The multifunctional manipulator automation equipment is characterized in that it includes a lower frame, an upper frame is fixedly arranged on the upper side of the lower frame, a material bin is arranged inside the lower frame and the upper frame, a partition is arranged between the lower frame and the upper frame, and two groups of four-axis structure manipulators are fixedly arranged on the upper part of the partition and on both sides of the material bin. The four-axis structure manipulator includes a fixed frame arranged on the partition, an X-axis is fixedly arranged on the upper end of the fixed frame, a Y-axis is horizontally slidably arranged on the X-axis, a Z-axis is vertically slidably arranged on the Y-axis, an R-axis is rotatably arranged on the Z-axis, and a pneumatic hand gripper is fixedly arranged on the R-axis.

[0006] According to the preferred technical solution, the X-axis, Y-axis and Z-axis all move linearly through the cooperation of the slide rails and the sliders and the drag chain group driven by the servo motor.

[0007] According to a preferred technical solution, the R-axis is a rotating structure driven by a motor.

[0008] According to a preferred technical solution, a labeling module is provided on the lower side of the R axis and on the side of the pneumatic gripper.

[0009] According to a preferred technical solution, a bottom shell assembly group, a label printing group, a middle frame assembly group, a middle frame screwing group and a bottom shell screwing group are arranged on the upper side of the partition and inside the silo, and there are two middle frame assembly groups.

[0010] According to a preferred technical solution, the lower frame and the upper frame include plates made of transparent material surrounding the silo.

[0011] According to a preferred technical solution, a feeding module is disposed on the outside of one side of the bottom plate.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model discloses a structure of a manipulator with a four-axis double-gantry structure and a control method thereof. The manipulator has a compact and lightweight structure and can complete double-station operations at the same time. The overall load is ≥5KG and the maximum production capacity reaches 240UPH. The two gantries can work independently or simultaneously without interfering with each other. The positioning accuracy is high, stable and reliable, the production capacity is high, and the cost is low, thereby meeting the requirements of assembly line manufacturers and having a wider and more convenient adaptation range. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the utility model mechanism;

[0015] Figure 2 This is a schematic diagram of the mechanism of the utility model after removing the upper frame;

[0016] Figure 3 This is a schematic diagram of the four-axis structure manipulator mechanism of the utility model;

[0017] In the figure: 1. Lower frame; 2. Upper frame; 3. Material bin; 4. Partition; 5. Four-axis structure manipulator; 6. Fixed frame; 7. X-axis; 8. Y-axis; 9. Z-axis; 10. R-axis; 11. Pneumatic gripper; 12. Slide rail; 13. Slider; 14. Bottom shell assembly group; 15. Label printing group; 16. Middle frame assembly group; 17. Middle frame screwing group; 18. Bottom shell screwing group; 19. Feeding module; 20. Drag chain group; 21. Labeling module. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0019] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0020] like Figure 1 and 2As shown, the multifunctional manipulator automation equipment includes a lower frame 1, an upper frame 2 is fixedly arranged on the upper side of the lower frame 1, a silo 3 is arranged inside the lower frame 1 and the upper frame 2, a partition 4 is arranged between the lower frame 1 and the upper frame 2, two groups of four-axis structure manipulators 5 are fixedly arranged on the upper part of the partition 4 and on both sides of the silo 3, and a bottom shell assembly group 14, a label printing group 15, a middle frame assembly group 16, a middle frame screwing group 17 and a bottom shell screwing group 18 are arranged on the upper side of the partition 4 and inside the silo 3, and the middle frame assembly group 16 has two groups. The lower frame 1 and the upper frame 2 include a plate of transparent material surrounding the silo 3. A feeding module 19 is arranged on the outside of one side of the partition 4.

[0021] like Figure 3 As shown, the four-axis structure manipulator 5 includes a fixed frame 6 arranged on the partition 4, an X-axis 7 is fixedly arranged on the upper end of the fixed frame 6, a Y-axis 8 is horizontally slidably arranged on the X-axis 7, a Z-axis 9 is vertically slidably arranged on the Y-axis 8, an R-axis 10 is rotatably arranged on the Z-axis 9, and a pneumatic gripper 11 is fixedly arranged on the R-axis 10. The X-axis 7, the Y-axis 8 and the Z-axis 9 are all linearly moved by the drag chain group 20 driven by the servo motor through the cooperation of the slide rail 12 and the slider 13. The R-axis 10 is a rotating structure driven by a motor. A labeling module 21 is arranged on the lower side of the R-axis 10 and on one side of the pneumatic gripper 11.

[0022] The bottom shell assembly group 14, label printing group 15, middle frame assembly group 16, middle frame screwing group 17 and bottom shell screwing group 18 of the utility model can all adopt existing mechanisms, and the specific structural positions can be appropriately adjusted according to the type and structural characteristics of the product to be processed.

[0023] The two sets of four-axis structure manipulators 5 of the utility model constitute a four-axis double gantry structure manipulator, which controls the position of the pneumatic gripper 11 and the labeling module 21 within the effective range, completes the actions of different modules, and ensures the overall production capacity. The two sets of four-axis structure manipulators are fixed on the frame as a whole and can run simultaneously.

[0024] The control method is as follows:

[0025] (1) The cylinder is controlled by a solenoid valve, and the work includes overall material removal and product clamping;

[0026] (2) controlling the pneumatic gripper 11 by a servo motor (e.g., rotating 360°, counterclockwise or clockwise);

[0027] (3) Controlling the pneumatic gripper 11 to rise or fall through the Z-axis drive device;

[0028] Working principle of the manipulator: The servo motor drives two sets of four-axis gantries to complete the movements of the X-axis 7, Y-axis 8, Z-axis 9, and R-axis 10 respectively, ensuring that the equipment as a whole can run uninterruptedly to achieve production capacity. The Z-axis 9 drives the manipulator down to a reasonable position, and the solenoid valve controls the air claw to grab the product at a relative position. The Z-axis 9 drives the manipulator up to a reasonable position, and drives the manipulator to a reasonable position through the X-axis 7, Y-axis 8 and R-axis 10, and cooperates with various components to complete the assembly or processing of the finished product.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Multifunctional manipulator automation equipment, characterized in that: The invention comprises a lower frame (1), an upper frame (2) is fixedly arranged on the upper side of the lower frame (1), a material bin (3) is arranged inside the lower frame (1) and the upper frame (2), a partition (4) is arranged between the lower frame (1) and the upper frame (2), two groups of four-axis structure manipulators (5) are fixedly arranged on the upper part of the partition (4) and on both sides of the material bin (3), and the four-axis structure manipulator (5) comprises a fixed frame (6) arranged on the partition (4), an X-axis (7) is fixedly arranged on the upper end of the fixed frame (6), a Y-axis (8) is horizontally slidably arranged on the X-axis (7), a Z-axis (9) is vertically slidably arranged on the Y-axis (8), an R-axis (10) is rotatably arranged on the Z-axis (9), and a pneumatic hand gripper (11) is fixedly arranged on the R-axis (10).

2. The multifunctional manipulator automation equipment according to claim 1, characterized in that: The X-axis (7), Y-axis (8) and Z-axis (9) are all linearly moved by the drag chain group (20) driven by the servo motor through the cooperation of the slide rail (12) and the slider (13).

3. The multifunctional manipulator automation equipment according to claim 1 is characterized in that: The R axis (10) is a rotating structure driven by a motor.

4. The multifunctional manipulator automation equipment according to claim 1, characterized in that: A labeling module (21) is provided on the lower side of the R axis (10) and on one side of the pneumatic gripper (11).

5. The multifunctional manipulator automation equipment according to claim 1, characterized in that: A bottom shell assembly group (14), a label printing group (15), a middle frame assembly group (16), a middle frame screwing group (17) and a bottom shell screwing group (18) are arranged on the upper side of the partition (4) and inside the silo (3).

6. The multifunctional manipulator automation equipment according to claim 1, characterized in that: The lower frame (1) and the upper frame (2) include plates made of transparent material surrounding the silo (3).

7. The multifunctional manipulator automation equipment according to any one of claims 1 to 6, characterized in that: A feeding module (19) is arranged outside one side of the partition (4).

Images