Six-axis coupling device

Abstract

The utility model relates to the technical field of coupling machines, in particular to a six-axis coupling device which comprises an XYZ movement driving mechanism, a rotation driving mechanism, an up-down angle adjusting mechanism, a left-right angle adjusting mechanism and a coupling clamp. The moving seat is arranged at the moving end of the XYZ moving driving mechanism, the translation driving mechanism is arranged on the moving seat and used for driving the vertical guide rail to translate on the moving seat, the sliding block is slidably connected with the vertical guide rail, a hinge arm is arranged at one end of the rotating seat and hinged to the sliding block, and a rotating shaft is arranged on the side, close to the moving seat, of the rotating seat. The rotating seat is rotationally connected with the moving seat through a rotating shaft, the axis of the rotating shaft is parallel to the X axis, and the vertical angle adjusting mechanism is arranged on the rotating seat. Six-axis control is achieved, and the rotation driving mechanism drives the coupling clamp to rotate around the X axis, so that the precision is high, the cost is low, the rigidity is high, and the service life is long.

Description

Technical Field

[0001] The utility model relates to the technical field of coupling machines, in particular to a six-axis coupling device. Background Art

[0002] Among the existing patents, the Chinese patent document with application number 201920479264.8 discloses a lens coupling clamping system, including: a spatial displacement mechanism, a driving mechanism, a clamping mechanism and a lens placement platform; the spatial displacement mechanism is connected to the driving mechanism, the spatial displacement mechanism is used to drive the driving mechanism to move in space, the driving mechanism is connected to the clamping mechanism, and is used to drive the clamping mechanism to perform a clamping action, and the clamping mechanism is arranged above the lens placement platform; the spatial displacement mechanism includes at least one of an X-axis slide and a Y-axis slide and a Z-axis slide; the spatial displacement mechanism also includes: an angular displacement slide; the angular displacement slide includes at least one of an X-axis angular displacement slide, a Y-axis angular displacement slide and a Z-axis angular displacement slide; and also includes: a swing cylinder; the swing cylinder is connected to the spatial displacement mechanism, and the output shaft of the swing cylinder is connected to the driving mechanism. Although this patent document realizes multi-axis control, it drives the clamping mechanism to rotate around the X-axis through the X-axis angular displacement slide, and the cost of the X-axis angular displacement slide is high. Of course, the prior art also uses a high-precision rotating table to drive the clamping mechanism to rotate around the X-axis, but the high-precision rotating table is expensive and has weak rigidity. Therefore, the defects are very obvious, and a solution is urgently needed. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a six-axis coupling device.

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

[0005] A six-axis coupling device comprises an XYZ mobile drive mechanism, a rotation drive mechanism installed at the mobile end of the XYZ mobile drive mechanism, an up-down angle adjustment mechanism installed at the rotating end of the rotation drive mechanism, a left-right angle adjustment mechanism installed at the adjusting end of the up-down angle adjustment mechanism, and a coupling clamp installed at the adjusting end of the left-right angle adjustment mechanism. The rotation drive mechanism comprises a mobile seat, a translation drive mechanism, a vertical guide rail, a slider and a rotating seat. The mobile seat is installed at the mobile end of the XYZ mobile drive mechanism, the translation drive mechanism is installed on the mobile seat, the translation drive mechanism is used to drive the vertical guide rail to translate on the mobile seat, the slider is slidably connected to the vertical guide rail, an articulated arm is provided at one end of the rotating seat, the articulated arm is hinged to the slider, a rotating shaft is provided on the side of the rotating seat close to the mobile seat, the rotating seat is rotatably connected to the mobile seat via the rotation shaft, the axis of the rotation shaft is parallel to the X-axis, and the up-down angle adjustment mechanism is installed on the rotating seat.

[0006] Further, the articulated arm is articulated with the slider via an articulated shaft.

[0007] Furthermore, the XYZ moving drive mechanism includes an X-axis moving module, a Y-axis moving module connected to the moving end of the X-axis moving module, and a Z-axis moving module connected to the moving end of the Y-axis moving module, and the moving seat is installed at the moving end of the Z-axis moving module.

[0008] Furthermore, the up and down angle adjustment mechanism is a Y-axis angular displacement slide that can provide rotational motion around the Y-axis.

[0009] Furthermore, the left and right angle adjustment mechanism is a Z-axis angular displacement slide that can provide rotational motion around the Z-axis.

[0010] Furthermore, the coupling clamp includes a seat body installed at the adjustment end of the left and right angle adjustment mechanism, a fixed clamp installed on the seat body, two movable clamps movably arranged on both sides of the fixed clamp, and a clamping driver installed on the seat body and used to drive the two movable clamps to move closer to or away from each other.

[0011] Furthermore, the coupling fixture also includes a mounting arm disposed on the base body and a UV curing lamp obliquely mounted on the mounting arm.

[0012] Furthermore, the translation drive mechanism includes a screw rod rotatably connected to the moving seat, a motor installed on the moving seat and used to drive the screw rod to rotate, a moving nut threadedly sleeved on the screw rod and a translation plate installed on the moving nut, the translation plate is slidably connected to the moving seat, and the vertical guide rail is installed on the translation plate.

[0013] Furthermore, the movable seat is provided with a guide groove, and the translation plate is movably arranged in the guide groove.

[0014] The beneficial effects of the utility model are as follows: in practical applications, the XYZ moving drive mechanism can drive the coupling fixture to move on the X-axis, Y-axis and Z-axis to adjust the position of the coupling fixture, and the rotating drive mechanism can drive the coupling fixture to rotate around the X-axis, the up-down angle adjustment mechanism can drive the coupling fixture to rotate around the Y-axis, and the left-right angle adjustment mechanism can drive the coupling fixture to rotate around the Z-axis to adjust the angle of the coupling fixture to meet different requirements for the position and angle of the coupling fixture during coupling processing. In the process of the rotating drive mechanism driving the coupling fixture to rotate around the X-axis, the translation drive mechanism drives the vertical guide rail to translate. In the process of the vertical guide rail translating, the slider will slide along the vertical guide rail, and the articulated arm will rotate relative to the slider. The rotating articulated arm drives the rotating seat to rotate around the axis of the rotating shaft (X-axis), and the rotating rotating seat drives the coupling fixture to rotate around the X-axis. Since the setting of the articulated arm extends the arm length of the rotating seat, when the rotation angle of the rotating seat is fixed, the arc length of the rotating seat rotation will be enlarged, which is conducive to improving the control accuracy, thereby improving the rotation accuracy of the rotating seat, and then improving the accuracy of the angle adjustment of the coupling fixture, and the rotation drive mechanism of this structural design has the characteristics of low cost, high rigidity and long service life. The utility model realizes six-axis control, which can meet the different use requirements during coupling processing, and the rotation drive mechanism drives the coupling fixture to rotate around the X-axis with high precision, low cost, high rigidity and long service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0016] Figure 2 It is a three-dimensional structural schematic diagram of another viewing angle of the utility model.

[0017] Figure 3 It is a three-dimensional structural schematic diagram of the Z-axis moving module and the rotation driving mechanism of the utility model.

[0018] Figure 4 It is a three-dimensional structural schematic diagram of the coupling clamp of the utility model.

[0019] Description of reference numerals:

[0020] 1. XYZ moving drive mechanism; 2. Rotating drive mechanism; 3. Up and down angle adjustment mechanism; 4. Left and right angle adjustment mechanism; 5. Coupling fixture; 6. Moving seat; 7. Translation drive mechanism; 8. Vertical guide rail; 9. Slider; 10. Rotating seat; 11. Articulated arm; 12. Rotating shaft; 13. Articulated shaft; 14. X-axis moving module; 15. Y-axis moving module; 16. Z-axis moving module; 17. Seat; 18. Fixed clamp; 19. Movable clamp; 20. Clamping driver; 21. Mounting arm; 22. UV curing lamp; 23. Screw; 24. Motor; 25. Moving nut; 26. Translation plate. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0022] like Figures 1 to 4 As shown, the utility model provides a six-axis coupling device, which includes an XYZ mobile drive mechanism 1, a rotation drive mechanism 2 installed at the mobile end of the XYZ mobile drive mechanism 1, an up-down angle adjustment mechanism 3 installed at the rotating end of the rotation drive mechanism 2, a left-right angle adjustment mechanism 4 installed at the adjustment end of the up-down angle adjustment mechanism 3, and a coupling fixture 5 installed at the adjustment end of the left-right angle adjustment mechanism 4. The rotation drive mechanism 2 includes a mobile seat 6, a translation drive mechanism 7, a vertical guide rail 8, a slider 9 and a rotation seat 10. The mobile seat 6 is mounted on the moving end of the XYZ moving drive mechanism 1, the translation drive mechanism 7 is mounted on the moving seat 6, the translation drive mechanism 7 is used to drive the vertical guide rail 8 to translate on the moving seat 6, the slider 9 is slidably connected to the vertical guide rail 8, one end of the rotating seat 10 is provided with an articulated arm 11, the articulated arm 11 is hinged to the slider 9, the rotating seat 10 is provided with a rotating shaft 12 on the side close to the moving seat 6, the rotating seat 10 is rotatably connected to the moving seat 6 via the rotating shaft 12, the axis of the rotating shaft 12 is parallel to the X axis, and the up and down angle adjustment mechanism 3 is mounted on the rotating seat 10. Specifically, the up and down angle adjustment mechanism 3 is a Y-axis angular displacement slide that can provide rotational motion around the Y axis; the left and right angle adjustment mechanism 4 is a Z-axis angular displacement slide that can provide rotational motion around the Z axis.

[0023] In practical applications, the XYZ moving drive mechanism 1 can drive the coupling fixture 5 to move on the X-axis, Y-axis and Z-axis to adjust the position of the coupling fixture 5, and the rotating drive mechanism 2 can drive the coupling fixture 5 to rotate around the X-axis, the up-down angle adjustment mechanism 3 can drive the coupling fixture 5 to rotate around the Y-axis, and the left-right angle adjustment mechanism 4 can drive the coupling fixture 5 to rotate around the Z-axis to adjust the angle of the coupling fixture 5 to meet the different requirements for the position and angle of the coupling fixture 5 during the coupling process. In the process of the rotating drive mechanism 2 driving the coupling fixture 5 to rotate around the X-axis, the translation drive mechanism 7 drives the vertical guide rail 8 to translate. In the process of the vertical guide rail 8 translating, the slider 9 will slide along the vertical guide rail 8, and the articulated arm 11 will rotate relative to the slider 9. The rotating articulated arm 11 drives the rotating seat 10 to rotate around the axis (X-axis) of the rotating shaft 12, and the rotating rotating seat 10 drives the coupling fixture 5 to rotate around the X-axis. Since the setting of the articulated arm 11 extends the arm length of the rotating seat 10, when the rotation angle of the rotating seat 10 is fixed, the arc length of the rotating seat 10 is enlarged, which is conducive to improving the control accuracy, thereby improving the rotation accuracy of the rotating seat 10, and then improving the accuracy of the angle adjustment of the coupling fixture 5, and the rotation drive mechanism 2 of this structural design has the characteristics of low cost, high rigidity and long service life. The utility model realizes six-axis control, which can meet the different use requirements during coupling processing, and the rotation drive mechanism 2 drives the coupling fixture 5 to rotate around the X-axis with high precision, low cost, high rigidity and long service life.

[0024] In this embodiment, the articulated arm 11 is articulated with the slider 9 via the articulated shaft 13. In practical applications, the articulated arm 11 rotates relative to the slider 9 around the axis of the articulated shaft 13. This structural design facilitates the assembly of the articulated arm 11 and the slider 9.

[0025] In this embodiment, the XYZ moving drive mechanism 1 includes an X-axis moving module 14, a Y-axis moving module 15 connected to the moving end of the X-axis moving module 14, and a Z-axis moving module 16 connected to the moving end of the Y-axis moving module 15, and the moving seat 6 is installed at the moving end of the Z-axis moving module 16. Specifically, the X-axis moving module 14, the Y-axis moving module 15, and the Z-axis moving module 16 can all adopt the screw rod 23 module. In practical applications, the X-axis moving module 14 drives the Y-axis moving module 15 to move in the X-axis direction, the Y-axis moving module 15 drives the Z-axis moving module 16 to move in the Y-axis direction, and the Z-axis moving module 16 drives the moving seat 6 to move in the Z-axis direction.

[0026] In this embodiment, the coupling clamp 5 includes a seat body 17 mounted on the adjustment end of the left and right angle adjustment mechanism 4, a fixed clamp 18 mounted on the seat body 17, two movable clamps 19 movably arranged on both sides of the fixed clamp 18, and a clamping driver 20 mounted on the seat body 17 and used to drive the two movable clamps 19 to move closer to or away from each other. Specifically, the clamping driver 20 can be a bidirectional cylinder or a finger cylinder.

[0027] In actual application, the coupling fixture 5 moves to the top of the material, and the fixed clamp 18 contacts the material, and then the clamping driver 20 drives the two movable clamps 19 to approach each other until the two movable clamps 19 clamp the material (such as a lens, etc.).

[0028] In this embodiment, the coupling fixture 5 further includes a mounting arm 21 disposed on the base 17 and a UV curing lamp 22 obliquely mounted on the mounting arm 21; specifically, there are two UV curing lamps 22, which are symmetrically arranged. When the coupling fixture 5 clamps the material onto the circuit board after the glue is dispensed, the UV curing lamp 22 irradiates the glue to achieve rapid curing of the glue.

[0029] In this embodiment, the translation drive mechanism 7 includes a screw rod 23 rotatably connected to the moving seat 6, a motor 24 installed on the moving seat 6 and used to drive the screw rod 23 to rotate, a moving nut 25 threadedly sleeved on the screw rod 23 and a translation plate 26 installed on the moving nut 25, the translation plate 26 is slidably connected to the moving seat 6, and the vertical guide rail 8 is installed on the translation plate 26.

[0030] In actual application, the motor 24 drives the screw rod 23 to rotate, the rotating screw rod 23 drives the moving nut 25 to move, the moving moving nut 25 drives the translation plate 26 and the vertical guide rail 8 to move, and the moving vertical guide rail 8 drives the slider 9 to slide vertically and drives the articulated arm 11 and the rotating seat 10 to rotate.

[0031] In this embodiment, the movable seat 6 is provided with a guide groove, and the translation plate 26 is movably arranged in the guide groove. The guide groove guides the movement of the translation plate 26, improves the movement stability of the translation plate 26, and ensures that the translation plate 26 can only translate.

[0032] All technical features in this embodiment can be freely combined according to actual needs.

[0033] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A six-axis coupling device, characterized in that: The invention comprises an XYZ moving drive mechanism (1), a rotating drive mechanism (2) installed at the moving end of the XYZ moving drive mechanism (1), an up-down angle adjustment mechanism (3) installed at the rotating end of the rotating drive mechanism (2), a left-right angle adjustment mechanism (4) installed at the adjusting end of the up-down angle adjustment mechanism (3), and a coupling fixture (5) installed at the adjusting end of the left-right angle adjustment mechanism (4); the rotating drive mechanism (2) comprises a moving seat (6), a translation driving mechanism (7), a vertical guide rail (8), a slider (9), and a rotating seat (10); the moving seat (6) is installed at the XYZ moving drive mechanism (1 ), a translation driving mechanism (7) is installed on the moving seat (6), the translation driving mechanism (7) is used to drive the vertical guide rail (8) to translate on the moving seat (6), the slider (9) is slidably connected to the vertical guide rail (8), one end of the rotating seat (10) is provided with a hinged arm (11), the hinged arm (11) is hinged to the slider (9), a rotating shaft (12) is provided on a side of the rotating seat (10) close to the moving seat (6), the rotating seat (10) is rotatably connected to the moving seat (6) via the rotating shaft (12), the axis of the rotating shaft (12) is parallel to the X-axis, and the up and down angle adjustment mechanism (3) is installed on the rotating seat (10).

2. A six-axis coupling device according to claim 1, characterized in that: The articulated arm (11) is articulated to the slide block (9) via an articulated shaft (13).

3. A six-axis coupling device according to claim 1, characterized in that: The XYZ moving drive mechanism (1) comprises an X-axis moving module (14), a Y-axis moving module (15) connected to the moving end of the X-axis moving module (14), and a Z-axis moving module (16) connected to the moving end of the Y-axis moving module (15); the moving seat (6) is mounted on the moving end of the Z-axis moving module (16).

4. A six-axis coupling device according to claim 1, characterized in that: The up and down angle adjustment mechanism (3) is a Y-axis angular displacement slide table capable of providing rotational motion around the Y-axis.

5. The six-axis coupling device according to claim 1, characterized in that: The left and right angle adjustment mechanism (4) is a Z-axis angular displacement slide table capable of providing rotational motion around the Z-axis.

6. A six-axis coupling device according to claim 1, characterized in that: The coupling clamp (5) comprises a seat body (17) mounted on the adjustment end of the left and right angle adjustment mechanism (4), a fixed clamp (18) mounted on the seat body (17), two movable clamps (19) movably arranged on both sides of the fixed clamp (18), and a clamping driver (20) mounted on the seat body (17) and used for driving the two movable clamps (19) to move closer to or farther from each other.

7. A six-axis coupling device according to claim 6, characterized in that: The coupling fixture (5) also includes a mounting arm (21) arranged on the base (17) and a UV curing lamp (22) obliquely mounted on the mounting arm (21).

8. The six-axis coupling device according to claim 1, characterized in that: The translation driving mechanism (7) comprises a screw rod (23) rotatably connected to the moving seat (6), a motor (24) mounted on the moving seat (6) and used for driving the screw rod (23) to rotate, a moving nut (25) threadedly sleeved on the screw rod (23), and a translation plate (26) mounted on the moving nut (25); the translation plate (26) is slidably connected to the moving seat (6), and a vertical guide rail (8) is mounted on the translation plate (26).

9. A six-axis coupling device according to claim 8, characterized in that: The movable seat (6) is provided with a guide groove, and the translation plate (26) is movably arranged in the guide groove.

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