Gantry five-axis manipulator

Abstract

The utility model relates to a gantry five-axis manipulator. The gantry five-axis manipulator comprises a rack; the detection unit is arranged on the rack; the mechanical arm unit is arranged on the rack; the mechanical arm unit comprises a swing assembly and a rotating assembly, the rotating assembly is connected to the swing assembly, and the swing assembly is installed on the rack; under the condition that the workpiece is carried, the rotating assembly is used for driving the workpiece to turn over to the mounting position in the first direction, the detection unit is used for obtaining the gradient of the workpiece on the mounting position, and the swing assembly drives the rotating assembly to swing in the second direction according to the gradient of the workpiece on the mounting position so that the workpiece on the mounting position can be parallel to the horizontal plane. The first direction is the length direction of the rack, and the second direction is the width direction of the rack. According to the gantry five-axis manipulator, the workpiece can be driven by the rotating assembly to turn over to the mounting position in the first direction, the gradient of the workpiece on the mounting position is obtained through the detection unit, and the swinging assembly can conduct gradient compensation on the rotating assembly according to the gradient of the workpiece on the mounting position.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical equipment, and particularly to a gantry five-axis manipulator. Background Art

[0002] At present, the handling of workpieces is mostly completed by five-axis manipulators. However, the structure of traditional five-axis manipulators is too rigid, and in the actual production process, the operations of picking and placing products are often inaccurate, and manual assistance is required to complete the handling of workpieces. The handling operation efficiency and accuracy are both low. Summary of the Utility Model

[0003] Based on this, in view of the problem of low handling operation efficiency and accuracy of five-axis manipulators, it is necessary to provide a pressure test device.

[0004] A gantry five-axis manipulator for handling workpieces, the gantry five-axis manipulator comprising:

[0005] A frame;

[0006] A detection unit provided on the frame;

[0007] A robotic arm unit provided on the frame; the robotic arm unit includes a swing assembly and a rotation assembly, the rotation assembly is connected to the swing assembly, and the swing assembly is mounted on the frame;

[0008] Wherein, when handling the workpiece, the rotation assembly is used to drive the workpiece to flip around a first direction to an installation position, the detection unit is used to obtain the inclination of the workpiece at the installation position, and the swing assembly drives the rotation assembly to swing around a second direction according to the inclination of the workpiece at the installation position, so that the workpiece at the installation position is parallel to the horizontal plane. The first direction is the length direction of the frame, and the second direction is the width direction of the frame.

[0009] The above-mentioned gantry five-axis manipulator can drive the workpiece to flip around the first direction to the installation position through the rotation assembly, and use the detection unit to obtain the inclination of the workpiece at the installation position. The swing assembly can perform inclination compensation on the rotation assembly according to the inclination of the workpiece at the installation position, so that the workpiece on the rotation assembly is parallel to the horizontal plane, which is convenient for subsequently adhering and fixing the workpiece flatly to the contact member. The operation is convenient when handling the workpiece, which is beneficial to improving the handling efficiency of the workpiece.

[0010] In one embodiment, the rotation assembly includes a rotation driving member, a rotation shaft and a load-carrying plate. The load-carrying plate is fixedly connected to the rotation shaft, and the rotation driving member is connected to the rotation shaft and is used to drive the rotation shaft to flip around the first direction.

[0011] In one embodiment, the rotating assembly further includes a vacuum pumping member. The carrier plate is provided with adsorption holes, and the vacuum pumping member is communicated with the adsorption holes. The vacuum pumping member is configured to generate negative pressure in the adsorption holes to adsorb and fix the workpiece on the carrier plate.

[0012] In one embodiment, the rotating assembly further includes a fixing frame. The fixing frame includes a transverse plate and two vertical plates spaced along the first direction. The rotating shaft is rotatably disposed between the two vertical plates, and the transverse plate is connected to the swinging assembly.

[0013] In one embodiment, the swinging assembly includes a swinging driving member and a swinging shaft. The swinging shaft is fixedly connected to the transverse plate, and the swinging driving member is connected to the swinging shaft and configured to drive the swinging shaft to swing around the second direction.

[0014] In one embodiment, the robotic arm unit further includes a first moving assembly. The swinging assembly is connected to the first moving assembly. The first moving assembly is movably disposed on the machine frame along a third direction, and the third direction is the height direction of the machine frame.

[0015] In one embodiment, the first moving assembly includes a first driving member and a first movable block. The first movable block is connected to the swinging assembly. The first driving member is connected to the first movable block and configured to drive the first movable block to move along the third direction.

[0016] In one embodiment, the gantry five-axis robotic arm further includes a machine table. The machine frame is disposed on the machine table and is a gantry frame. The machine frame can move along the first direction and / or the second direction.

[0017] In one embodiment, the machine table has at least two different processing stations in the first direction, and at least one machine frame is correspondingly provided at any one of the processing stations.

[0018] In one embodiment, at least two robotic arm units are provided on any one of the machine frames, and the robotic arm units are arranged side by side along the first direction.

[0019] In one embodiment, the detection unit is a vision alignment mechanism. The vision alignment mechanism obtains the inclination of the workpiece on the installation position by acquiring an image of the workpiece on the installation position. Description of the Drawings

[0020] Figure 1 Is an axonometric view of the gantry five-axis robotic arm in some embodiments.

[0021] Figure 2 Is Figure 1Front view of the gantry five-axis manipulator shown

[0022] Figure 3 is Figure 1 Axonometric view of the frame and the robotic arm unit in the gantry five-axis manipulator shown

[0023] Figure 4 is Figure 3 Axonometric view of the robotic arm unit shown

[0024] Reference numerals:

[0025] 100, frame; 110, second moving component; 111, second driving member; 112, second movable block; 120, third moving component; 121, third driving member; 122, third movable block; 300, robotic arm unit; 310, swinging component; 311, swinging driving member; 312, swinging shaft; 320, rotating component; 321, rotating driving member; 322, rotating shaft; 323, load-carrying plate; 323a, adsorption hole; 324, fixing frame; 324a, horizontal plate; 324b, vertical plate; 330, first moving component; 331, first driving member; 332, first movable block; 400, machine table; 401, processing station Detailed implementation manners

[0026] To make the above objects, features, and advantages of the present application more apparent and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below

[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application

[0028] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0029] In this application, unless otherwise clearly defined and limited, terms such as "initial", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0031] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0032] Please refer to Figures 1 to 4 , the gantry five-axis manipulator in an embodiment is used to carry workpieces. The gantry five-axis manipulator includes a frame 100, a detection unit and a robotic arm unit 300. The detection unit is disposed on the frame 100, the robotic arm unit 300 is disposed on the frame 100, the robotic arm unit 300 includes a swing assembly 310 and a rotation assembly 320. The rotation assembly 320 is connected to the swing assembly 310, and the swing assembly 310 is mounted on the frame 100;

[0033] Among them, in the case of handling a workpiece, the rotating assembly 320 is used to drive the workpiece to flip around the first direction to the installation position, the detection unit is used to obtain the inclination of the workpiece at the installation position, and the swinging assembly 310 drives the rotating assembly 320 to swing around the second direction according to the inclination of the workpiece at the installation position, so that the workpiece at the installation position is parallel to the horizontal plane. The first direction is the length direction of the frame 100, and the second direction is the width direction of the frame 100.

[0034] It should be noted that the first direction is Figure 1 the X direction shown, and the second direction is Figure 1 the Y direction shown. During the above process of handling the workpiece, first adsorb and fix the bearing surface of the workpiece on the rotating assembly 320, and then drive the workpiece to flip around the first direction to the installation position through the rotating assembly 320, so that the contact surface of the workpiece faces the contact part; then obtain the inclination of the workpiece at the installation position through the detection unit to quickly judge the inclination degree of the workpiece at the installation position relative to the horizontal plane; according to the inclination of the workpiece at the installation position, drive the rotating assembly 320 to swing around the second direction through the swinging assembly 310, so that the workpiece at the installation position is parallel to the horizontal plane; finally, adhere and fix the contact surface of the workpiece to the contact part. Among them, the contact surface and the bearing surface are arranged oppositely along the thickness direction of the workpiece, and the thickness direction is also Figure 1 the Z direction shown.

[0035] Optionally, the workpiece is a flexible glass in a flexible display screen, and the contact part is a film in the flexible display screen.

[0036] For the above-mentioned gantry five-axis manipulator, the rotating assembly 320 can drive the workpiece to flip around the first direction to the installation position, and use the detection unit to obtain the inclination of the workpiece at the installation position. The swinging assembly 310 can perform inclination compensation on the rotating assembly 320 according to the inclination of the workpiece at the installation position, so that the workpiece on the rotating assembly 320 is parallel to the horizontal plane, which is convenient for subsequently adhering and fixing the workpiece flatly to the contact part. When handling the workpiece, the operation is convenient, which is beneficial to improving the handling efficiency of the workpiece.

[0037] In the embodiment of the present application, the detection unit is configured as a component for obtaining the inclination of the workpiece at the installation position. The detection unit can obtain the inclination of the workpiece at the installation position by obtaining the coordinate position information of the workpiece or the obtained image information. For example, the detection unit can be an image sensor, a vision alignment device or other types of sensing structures, and the specific type of the detection unit is not limited herein.

[0038] In the embodiment of the present application, the rotating assembly 320 is connected to the swinging assembly 310. It can be understood that: when the swinging assembly 310 swings around the second direction, it can drive the rotating assembly 320 to swing synchronously. The rotating assembly 320 and the swinging assembly 310 can be connected in various ways, and no specific limitation is made herein.

[0039] In an embodiment of the present application, the swing assembly 310 is installed on the frame 100. It can be understood that the swing assembly 310 swings relative to the frame 100 around the second direction, and the frame 100 does not swing. The swing assembly 310 and the frame 100 can be directly connected or indirectly connected (that is, the connection between the two is realized through other components), and no specific limitation is made here.

[0040] Specifically, please refer to Figure 4 , the rotation assembly 320 includes a rotation driving member 321, a rotation shaft 322 and a carrier plate 323. The carrier plate 323 is fixedly connected to the rotation shaft 322, and the rotation driving member 321 is connected to the rotation shaft 322 and is used to drive the rotation shaft 322 to flip around the first direction.

[0041] It can be understood that under the drive of the rotation driving member 321, the rotation shaft 322 flips around the first direction, and the carrier plate 323 flips synchronously with the rotation shaft 322, thereby changing the orientation of the workpiece on the carrier plate 323.

[0042] In an embodiment of the present application, the rotation driving member 321 is a servo motor. The output shaft of the servo motor is fixedly connected to the rotation shaft 322 and is used to provide power for the flipping of the rotation shaft 322. In other embodiments, the rotation driving member 321 can also be other driving structures with a power output shaft.

[0043] In an embodiment of the present application, the carrier plate 323 has a rectangular plate-like structure to adapt to the workpiece. In other embodiments, the carrier plate 323 can also be circular, oval or other irregular shapes.

[0044] In an embodiment of the present application, the rotation shaft 322 has a columnar structure. The columnar structure can be cylindrical, prismatic or other irregular shapes, and no specific limitation is made to the columnar structure here. The number of rotation shafts 322 is not limited to one. For example, the number of rotation shafts 322 is at least two, and the rotation shafts 322 are arranged side by side in the same direction, and each rotation shaft 322 is fixedly connected to the same carrier plate 323 to make the force on each rotation shaft 322 more balanced.

[0045] More specifically, please refer to Figure 4 , the rotation assembly 320 further includes a vacuum pumping member. The carrier plate 323 is provided with adsorption holes 323a, and the vacuum pumping member is communicated with the adsorption holes 323a; the vacuum pumping member is used to generate negative pressure in the adsorption holes 323a to adsorb and fix the workpiece on the carrier plate 323.

[0046] It should be noted that the vacuum pumping member is connected to the adsorption holes 323a through a pipeline. When handling the workpiece, the vacuum pumping member generates negative pressure in the adsorption holes 323a by means of vacuum pumping, so that the bearing surface of the carrier plate 323 sucks the workpiece, thereby adsorbing and fixing the workpiece on the carrier plate 323.

[0047] In an embodiment of the present application, at least two adsorption holes 323a are provided on the carrier plate 323, and the adsorption holes 323a are evenly distributed on the carrier plate 323 to improve the adsorption and fixation effect. Among them, the shapes and sizes of the adsorption holes 323a are the same, so as to facilitate the batch processing of the adsorption holes 323a. For example, the shapes of the adsorption holes 323a can all be circular, square or other irregular shapes, and the shape of the adsorption holes 323a is not specifically limited herein.

[0048] In an embodiment of the present application, the number of the vacuum pumping members is not limited to one. For example, the number of the vacuum pumping members is two, and the two vacuum pumping members are respectively connected to the adsorption holes 323a through corresponding pipelines. When one of the vacuum pumping members is damaged, the other vacuum pumping member can continue to work, which is beneficial to ensuring the reliability of adsorption and fixation.

[0049] Further, please refer to Figure 4 , the rotating assembly 320 further includes a fixing frame 324. The fixing frame 324 includes a cross plate 324a and two vertical plates 324b spaced along the first direction. The rotating shaft 322 is rotatably arranged between the two vertical plates 324b, and the cross plate 324a is connected to the swinging assembly 310.

[0050] It should be noted that the two vertical plates 324b are spaced along the first direction. The cross plate 324a straddles between the two vertical plates 324b and is fixed to the top sides of the two vertical plates 324b. The rotating shaft 322 is rotatably arranged at the bottom sides of the two vertical plates 324b, so that there is a certain distance between the rotating shaft 322 and the cross plate 324a in the height direction. Since the carrier plate 323 needs to be fixed to the rotating shaft 322 and flip with the rotating shaft 322, the above setting can provide sufficient space for the assembly and flipping of the carrier plate 323.

[0051] In an embodiment of the present application, the cross plate 324a and the two vertical plates 324b can be an integral structure, for example, integrally formed by injection molding, casting and other methods, with good integrity and convenient for rapid assembly. Or, the cross plate 324a and the two vertical plates 324b can also be a split structure, for example, fixed by clamping, plugging or screwing.

[0052] In an embodiment of the present application, both the cross plate 324a and the vertical plates 324b are in the shape of rectangular plates. In other embodiments, the cross plate 324a and the vertical plates 324b can also be circular, oval or other irregular shapes.

[0053] In an embodiment of the present application, both ends of the rotating shaft 322 are rotatably arranged on the two vertical plates 324b. The rotating shaft 322 and the vertical plates 324b can be directly rotatably connected, or indirectly rotatably connected through intermediate members such as bearings and rotating shafts.

[0054] Please refer toFigure 4 The swing assembly 310 includes a swing driving member 311 and a swing shaft 312. The swing shaft 312 is fixedly connected to the transverse plate 324a, and the swing driving member 311 is connected to the swing shaft 312 and is used to drive the swing shaft 312 to swing around the second direction.

[0055] It can be understood that under the drive of the swing driving member 311, the swing shaft 312 swings around the second direction, and the rotating assembly 320 swings synchronously with the swing shaft 312, thereby changing the inclination of the workpiece on the load-carrying plate 323 of the rotating assembly 320.

[0056] In the embodiment of the present application, the swing driving member 311 is a servo motor. The output shaft of the servo motor is fixedly connected to the swing shaft 312 and is used to provide power for the swing of the swing shaft 312. In other embodiments, the swing driving member 311 can also be other driving structures with a power output shaft.

[0057] In the embodiment of the present application, the swing shaft 312 has a columnar structure. The columnar structure can be cylindrical, prismatic or other irregular shapes, and the columnar structure is not specifically limited herein. The number of the swing shafts 312 is not limited to one. For example, the number of the swing shafts 312 is at least two. One end of each swing shaft 312 is installed on the frame 100, and the other end of each swing shaft 312 is fixedly connected to the rotating assembly 320 so that the forces on the swing shafts 312 are more balanced.

[0058] Please refer to Figure 4 The robotic arm unit 300 further includes a first moving assembly 330. The swing assembly 310 is connected to the first moving assembly 330. The first moving assembly 330 is movably disposed on the frame 100 along the third direction, and the third direction is the height direction of the frame 100.

[0059] It should be noted that the third direction is Figure 4 the Z direction shown. When the first moving assembly 330 moves relative to the frame 100 along the third direction, the swing assembly 310 will move synchronously with the first moving assembly 330, and at the same time, the rotating assembly 320 will move synchronously with the swing assembly 310, thereby changing the height position of the workpiece on the load-carrying plate 323 of the rotating assembly 320.

[0060] In the embodiment of the present application, the number of the first moving assemblies 330 is not limited to one. When the number of the first moving assemblies 330 is at least two, each first moving assembly 330 can be arranged side by side along the same direction.

[0061] Specifically, please refer to Figure 4, the first moving component 330 includes a first driving member 331 and a first movable block 332. The first movable block 332 is connected to the swing component 310, and the first driving member 331 is connected to the first movable block 332 and is used to drive the first movable block 332 to move along the third direction.

[0062] It can be understood that, driven by the first driving member 331, the first movable block 332 will move along the third direction, the swing component 310 moves synchronously with the first movable block 332, and at the same time, the rotating component 320 moves synchronously with the swing component 310, thereby changing the height position of the workpiece on the load plate 323 of the rotating component 320.

[0063] In the embodiment of the present application, the first driving member 331 is a lead screw extending along the third direction, and the first movable block 332 is a lead screw nut sleeved on the lead screw. The lead screw is driven to rotate by a servo motor to drive the lead screw nut to slide on the lead screw. In other embodiments, the first driving member 331 can also be other driving structures.

[0064] In the embodiment of the present application, the number of the first movable blocks 332 is not limited to one. When the number of the first movable block assemblies is at least two, the first movable blocks 332 can be spaced apart along the third direction, and each first movable block 332 is connected to the swing component 310, which is beneficial to improving the stability of the connection structure.

[0065] Please refer to Figure 1 , the gantry five-axis manipulator further includes a machine table 400. The frame 100 is arranged on the machine table 400 and is a gantry frame, and the frame 100 can move along the first direction and / or the second direction.

[0066] It should be noted that, with reference to Figure 3 , the frame 100 includes a second moving component 110 and a third moving component 120. The second moving component 110 is connected to the first moving component 330 and can move along the first direction, and the third moving component 120 is connected to the second moving component 110 and can move along the second direction. In this way, by setting two moving components, the frame 100 can move along the first direction and / or the second direction, and the position of the frame 100 can be adjusted more flexibly.

[0067] Specifically, in the embodiment of the present application, with reference to Figure 3 , the second moving component 110 includes a second driving member 111 and a second movable block 112. The second movable block 112 is connected to the first moving component 330, and the second driving member 111 is connected to the second movable block 112 and is used to drive the second movable block 112 to move along the first direction.

[0068] In an embodiment of the present application, the second driving member 111 is a linear motor extending along the first direction, and the second movable block 112 is driven to move along the first direction by the linear motor.

[0069] In an embodiment of the present application, the number of the second movable blocks 112 is not limited to one. When the number of the second movable block 112 components is at least two, the second movable blocks 112 can be spaced apart along the first direction, and each second movable block 112 is connected to the first moving component 330, which is beneficial to improving the stability of the connection structure.

[0070] Specifically, in an embodiment of the present application, referring to Figure 3 , the third moving component 120 includes a third driving member 121 and a third movable block 122. The third movable block 122 is connected to the second moving component 110, and the third driving member 121 is connected to the third movable block 122 and is used to drive the third movable block 122 to move along the second direction.

[0071] In an embodiment of the present application, the third driving member 121 is a linear motor extending along the second direction, and the third movable block 122 is driven to move along the second direction by the linear motor.

[0072] In an embodiment of the present application, the number of the third movable blocks 122 is not limited to one. When the number of the third movable block 122 components is at least two, the third movable blocks 122 can be spaced apart along the second direction, and each third movable block 122 is connected to the second moving component 110, which is beneficial to improving the stability of the connection structure.

[0073] Further, please refer to Figure 1 , the machine table 400 has at least two different processing stations 401 in the first direction, and at least one frame 100 is provided corresponding to any one of the processing stations 401.

[0074] It can be understood that by providing a frame 100 at each processing station 401 respectively, when handling workpieces, each processing station 401 of the machine table 400 can handle workpieces respectively, that is, at least two workpieces can be handled at one time, effectively improving the handling efficiency of the workpieces.

[0075] In an embodiment of the present application, the machine table 400 has at least two different processing stations 401 in the first direction. In other embodiments, the machine table 400 can also be provided with at least two different processing stations 401 in the second direction or the third direction to further improve the handling efficiency.

[0076] Furthermore, please refer to Figure 1 and Figure 2 , at least two robotic arm units 300 are provided on any one of the frames 100, and the robotic arm units 300 are arranged side by side along the first direction.

[0077] It can be understood that by respectively providing at least two robotic arm units 300 on any rack 100, when handling workpieces, the rack 100 of a single processing station 401 can handle at least two workpieces at a time, and the racks 100 of two processing stations 401 can handle at least four workpieces at a time, greatly improving the handling efficiency of the workpieces.

[0078] In the embodiment of the present application, the robotic arm units 300 are arranged side by side in the first direction. In other embodiments, the robotic arm units 300 can also be arranged side by side in the second direction or the third direction.

[0079] Specifically in the embodiment of the present application, please refer to Figure 1 , the detection unit is a vision alignment mechanism, and the vision alignment mechanism obtains the inclination of the workpiece on the installation position by acquiring an image of the workpiece on the installation position.

[0080] It should be noted that the controller is electrically connected to the vision alignment mechanism and the robotic arm unit 300 respectively. The vision alignment mechanism acquires an image of the workpiece on the installation position, analyzes the image information to obtain the inclination of the workpiece on the installation position, and feeds back a signal to the controller. The controller controls the swing amplitude of the swing assembly 310 according to the signal fed back by the vision alignment mechanism until the workpiece on the installation position of the swing assembly 310 is parallel to the horizontal plane.

[0081] In the embodiment of the present application, the number of vision alignment mechanisms is not limited to one, that is, the number of vision alignment mechanisms can be at least two to facilitate improving the accuracy of the detection result.

[0082] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0083] The above-described embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A gantry five-axis manipulator for handling workpieces, characterized in that, The gantry five-axis manipulator includes: a frame (100); a detection unit provided on the frame (100); a robotic arm unit (300) provided on the frame (100); the robotic arm unit (300) includes a swing assembly (310) and a rotation assembly (320), the rotation assembly (320) is connected to the swing assembly (310), and the swing assembly (310) is mounted on the frame (100); Wherein, when handling the workpiece, the rotation assembly (320) is used to drive the workpiece to flip around a first direction to the installation position, the detection unit is used to obtain the inclination of the workpiece at the installation position, and the swing assembly (310) drives the rotation assembly (320) to swing around a second direction according to the inclination of the workpiece at the installation position, so that the workpiece at the installation position is parallel to the horizontal plane. The first direction is the length direction of the frame (100), and the second direction is the width direction of the frame (100).

2. The gantry five-axis manipulator according to claim 1, wherein, The rotation assembly (320) includes a rotation drive member (321), a rotation shaft (322) and a load plate (323). The load plate (323) is fixedly connected to the rotation shaft (322), and the rotation drive member (321) is connected to the rotation shaft (322) and is used to drive the rotation shaft (322) to flip around the first direction.

3. The gantry five-axis manipulator according to claim 2, wherein The rotation assembly (320) further includes a vacuum pumping member. An adsorption hole (323a) is provided on the load plate (323), and the vacuum pumping member is communicated with the adsorption hole (323a); the vacuum pumping member is used to generate negative pressure in the adsorption hole (323a) to adsorb and fix the workpiece on the load plate (323).

4. The gantry five-axis manipulator according to claim 2, wherein The rotation assembly (320) further includes a fixing frame (324). The fixing frame (324) includes a cross plate (324a) and two vertical plates (324b) arranged at intervals along the first direction. The rotation shaft (322) is rotatably arranged between the two vertical plates (324b), and the cross plate (324a) is connected to the swing assembly (310).

5. The gantry five-axis manipulator according to claim 4, wherein The swing assembly (310) includes a swing drive member (311) and a swing shaft (312). The swing shaft (312) is fixedly connected to the cross plate (324a), and the swing drive member (311) is connected to the swing shaft (312) and is used to drive the swing shaft (312) to swing around the second direction.

6. The gantry five-axis manipulator according to claim 1, characterized in that, The robotic arm unit (300) further includes a first moving assembly (330). The swing assembly (310) is connected to the first moving assembly (330), and the first moving assembly (330) is movably arranged on the frame (100) along a third direction. The third direction is the height direction of the frame (100).

7. The gantry five-axis manipulator according to claim 6, characterized in that, The first moving component (330) includes a first driving member (331) and a first movable block (332). The first movable block (332) is connected to the swinging component (310). The first driving member (331) is connected to the first movable block (332) and is used to drive the first movable block (332) to move along the third direction.

8. The gantry five-axis manipulator according to claim 1, wherein, The gantry five-axis manipulator further includes a machine table (400). The frame (100) is arranged on the machine table (400) and is a gantry frame. The frame (100) can move along the first direction and / or the second direction.

9. The gantry five-axis manipulator according to claim 8, wherein, The machine table (400) has at least two different processing stations (401) in the first direction. At least one frame (100) is correspondingly arranged at any one of the processing stations (401).

10. The gantry five-axis manipulator according to claim 9, characterized in that, At least two of the robotic arm units (300) are arranged on any one of the frames (100), and the robotic arm units (300) are arranged side by side along the first direction.

11. The gantry five-axis manipulator according to claim 1, wherein, The detection unit is a vision alignment mechanism. The vision alignment mechanism obtains the inclination of the workpiece at the installation position by acquiring an image of the workpiece at the installation position.

Images