Single-speed manipulator

Abstract

The utility model discloses a single-speed manipulator, which belongs to the field of single-speed manipulators and comprises a cross beam frame mechanism, an up-down mechanism and a longitudinal moving mechanism, the cross beam frame mechanism comprises a cross beam body, movable mounting plates are mounted at two ends of the cross beam body, and a guide bar and a first rack are fixedly mounted on the surface of the cross beam body respectively. The upper end of the cross beam body is fixedly connected with two detection metal plates, a cylindrical switch is installed in one detection metal plate, the up-down mechanism comprises two lifting plates slidably connected to the surface of the cross beam body, guide rail sliding blocks are installed on one sides of the two lifting plates, and the upper ends of the guide rail sliding blocks are connected with racks; according to the multi-directional feeding manipulator, the cross beam frame mechanism is matched with the up-down mechanism and the longitudinal moving mechanism, so that the manipulator can conveniently carry out X-axis, Y-axis and Z-axis multi-directional moving feeding operation on workpieces, the use convenience and the feeding efficiency can be improved, and the universality of the manipulator can be enhanced.

Description

Technical Field

[0001] The utility model relates to the field of single-speed manipulators, in particular to a single-speed manipulator. Background Art

[0002] The robot is suitable for a single large-tonnage punch press, specifically involving a stamping condition with the characteristics of a large punch press, many and heavy stamped products. This type of robot is selected according to customer needs to cooperate with this production line, and cooperate with a highly automated and integrated production environment to replace the heavy labor of people, realize the mechanization and automation of production, improve production efficiency and consistency, ensure safety, reduce production costs, and improve working conditions. At present, most domestic stamping processing industries still use manual and semi-automatic loading methods. In the harsh environment of high temperature, high pressure, low temperature, low pressure, dust, noise, etc. at the stamping site, there are safety hazards, inconvenient operation, low work efficiency and other problems. Although imported equipment has high precision requirements, its high price makes it difficult for domestic customers to afford it. Based on this, it is necessary to provide a robot that is convenient for multi-directional movement to transport workpieces, enhance versatility and improve transportation efficiency. Utility Model Content

[0003] The embodiment of the utility model provides a single-speed manipulator, which aims to solve the problem that the existing manipulator is not convenient for transporting workpieces in multiple directions, affecting the transportation efficiency.

[0004] To achieve the above-mentioned purpose, the utility model provides a single-speed manipulator, comprising a beam frame mechanism, an upper and lower mechanism, and a longitudinal movement mechanism;

[0005] The crossbeam frame mechanism includes a crossbeam body, movable mounting plates are installed at both ends of the crossbeam body, a guide bar and a first rack are fixedly installed on the surface of the crossbeam body, and two detection sheet metals are fixedly connected to the upper end of the crossbeam body, one of the detection sheet metals has a cylindrical switch installed inside;

[0006] The upper and lower mechanisms include two lifting plates slidably connected to the surface of the beam body, a guide rail slider is installed on one side of the two lifting plates, the upper end of the guide rail slider is connected to a rack, a two-axis motor assembly is installed on the adjacent side of the lifting plates, an auxiliary cylinder is installed inside the lifting plates, and a plurality of positioning blocks are installed on the side of the lifting plates close to the beam body, and the plurality of positioning blocks are slidably connected to the side surface of the guide bar;

[0007] The longitudinal moving mechanism includes a second and third axis connecting seat installed at the lower end of the lifting plate, a three-axis motor assembly is installed at the upper end of the second and third axis connecting seat, a first fixing rod is installed on the inner wall of the second and third axis connecting seat, two guide blocks are installed at the lower end of the first fixing rod, a processing profile is installed at the lower end of the second and third axis connecting seat, one end of the processing profile is connected to a profile splint, two positioning plates are detachably connected between the profile splint and the processing profile, a detection block is installed at the upper end of the guide block, a transverse connecting main rod is installed at the front end of the processing profile, and a support arm mechanism is installed on the surface of the transverse connecting main rod.

[0008] As a preferred solution of the present invention, the two-axis motor combination includes a servo motor installed on one side of the lifting plate, the front end of the servo motor is connected to a first reduction motor, the output end of the first reduction motor is connected to a lifting gear, and the lifting gear is meshed with the rack.

[0009] As a preferred solution of the present invention, two buffer pads are installed on one end surface of the beam body, and a buffer block is installed inside the buffer pad.

[0010] As a preferred solution of the present invention, a motor pad is installed at the front end of the first reduction motor, and a first drag chain is installed on the surface of the lifting plate.

[0011] As a preferred solution of the present invention, a limiting seat is installed on one side of the lifting plate.

[0012] As a preferred solution of the present invention, a guide rail connecting seat is installed on the side of the lifting plate close to the beam body, and a first protective cover is installed on the lower end of the lifting plate.

[0013] As a preferred solution of the present invention, the surface of the two-axis motor combination is covered with a second protective cover, the surface of the second protective cover is installed with a small sealing plate, and the surface of the first reduction motor is installed with a reduction machine base.

[0014] As a preferred solution of the present invention, the three-axis motor combination includes a three-axis motor body, the front end of the three-axis motor body is connected to a second reduction motor, the front end of the second reduction motor is installed with an adjustment plate, and the output end of the second reduction motor is connected to a moving gear.

[0015] As a preferred solution of the present invention, one end of the processed profile is connected to a sensing piece, both sides of the sensing piece are connected to three-axis limiting columns, and one end of the processed profile is connected to an end plate.

[0016] As a preferred solution of the present invention, one end of the first fixing rod is connected to a fixing block, and the upper end of the guide block is connected to a second fixing rod.

[0017] As a preferred solution of the present invention, a second drag chain is installed at the lower end of the processed profile, and a drag chain mounting plate is installed at the lower end of the second drag chain.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] 1. When transporting the workpiece, the crossbeam body mainly supports and fixes the entire equipment, and is hung on the sides of the two columns of the punch press to ensure that the whole is firm. Then the middle part is installed to connect the transverse movement part. The guide slider cooperates with the rack to control the lifting plate to assist in X-axis transverse movement. At the same time, the two-axis motor combination drives the rack transmission, and the guide slider assists. The servo motor cooperates with the first reduction motor and the lifting gear to control the lifting plate to lift and lower the longitudinal moving mechanism, so as to adjust the height of the workpiece and place it, so as to perform Y-axis operation. Then start the three-axis motor body in the three-axis motor combination, cooperate with the second reduction motor and the moving gear to lift and lower the second and third axis connecting seats, and then move the processed profiles and the horizontal connecting main rod. The workpiece can be grabbed and moved through the support arm mechanism. Compared with the manipulator structure in the prior art, the utility model can facilitate the control of the manipulator to grab the workpiece for lifting, translation and extension operations through the cooperation of the above structures, thereby performing X, Y and Z axis movements, thereby improving the convenience of workpiece transportation and improving transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a disassembled diagram of the crossbeam frame structure of the utility model;

[0022] Figure 3 This is an enlarged view of the structure of point A of the utility model;

[0023] Figure 4 This is a disassembled diagram of the upper and lower mechanism structures of the utility model;

[0024] Figure 5 This is a disassembled diagram of the dual-axis motor assembly structure of the utility model;

[0025] Figure 6 This is a disassembled diagram of the longitudinal moving mechanism structure of the utility model;

[0026] Figure 7 This is a disassembled diagram of the three-axis motor combination structure of the utility model.

[0027] In the figure: 100, beam frame mechanism; 101, beam body; 102, movable mounting plate; 103, guide bar; 104, first rack; 105, detection sheet metal; 106, cylindrical switch; 111, buffer pad; 112, buffer block; 200, upper and lower mechanism; 201, lifting plate; 202, guide rail slider; 203, second rack; 204, two-axis motor assembly; 205, auxiliary cylinder; 206, positioning block; 2041, servo motor; 2042, first reduction motor; 2043, lifting gear; 211, motor pad; 212, first drag chain; 221, limit seat; 231, guide rail connecting seat; 232, first shield; 241, second Protective cover; 242, small sealing plate; 243, reducer seat; 300, longitudinal moving mechanism; 301, second and third axis connecting seat; 302, three-axis motor assembly; 303, first fixed rod; 304, guide block; 305, processed profile; 306, profile splint; 307, positioning plate; 308, detection block; 309, transversely connected main rod; 310, support arm mechanism; 3021, three-axis motor body; 3022, second reduction motor; 3023, adjustment plate; 3024, moving gear; 311, induction plate; 312, three-axis limit column; 313, end plate; 321, fixed block; 322, second fixed rod; 331, second drag chain; 332, drag chain mounting plate. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0029] See also Figure 1-7 The utility model provides a single-speed manipulator, comprising a beam frame mechanism 100, an upper and lower mechanism 200, and a longitudinal movement mechanism 300;

[0030] The crossbeam frame mechanism 100 includes a crossbeam body 101, with movable mounting plates 102 mounted on both ends of the crossbeam body 101. A guide bar 103 and a first rack 104 are fixedly mounted on the surface of the crossbeam body 101. Two detection sheet metals 105 are fixedly connected to the upper end of the crossbeam body 101, and a cylindrical switch 106 is mounted inside one of the detection sheet metals 105.

[0031] The upper and lower mechanisms 200 include two lifting plates 201 slidably connected to the surface of the beam body 101, a guide rail slider 202 is installed on one side of the two lifting plates 201, the upper end of the guide rail slider 202 is connected to the second rack (203), a two-axis motor assembly 204 is installed on the adjacent side of the lifting plates 201, an auxiliary cylinder 205 is installed inside the lifting plates 201, and a plurality of positioning blocks 206 are installed on the side of the lifting plates 201 close to the beam body 101, and the plurality of positioning blocks 206 are all slidably connected to the side surface of the guide bar 103;

[0032] The longitudinal moving mechanism 300 includes a second and third axis connecting seat 301 installed at the lower end of the lifting plate 201, a three-axis motor assembly 302 is installed at the upper end of the second and third axis connecting seat 301, a first fixed rod 303 is installed on the inner wall of the second and third axis connecting seat 301, two guide blocks 304 are installed at the lower end of the first fixed rod 303, a processing profile 305 is installed at the lower end of the second and third axis connecting seat 301, one end of the processing profile 305 is connected to a profile splint 306, two positioning plates 307 are detachably connected between the profile splint 306 and the processing profile 305, a detection block 308 is installed at the upper end of the guide block 304, a transverse connecting main rod 309 is installed at the front end of the processing profile 305, and a support arm mechanism 310 is installed on the surface of the transverse connecting main rod 309.

[0033] In a specific embodiment, the crossbeam frame mechanism 100 is provided in conjunction with the upper and lower mechanisms 200 and the longitudinal movement mechanism 300, so that the manipulator can perform multi-directional movement and feeding operations on the workpiece in the X, Y and Z axes, thereby improving the ease of use and feeding efficiency, and further enhancing the versatility of the manipulator. When in use, the crossbeam body 101 is mainly supported and fixed by the movable mounting plate 102 to hang the entire device on the sides of the two columns of the punch press to ensure the overall firmness. The guide bar 103 is combined with the first rack 104 to facilitate the control of the lifting plate 201 to perform horizontal movement and feeding operations along the crossbeam body 101 through the guide rail connecting seat 231, and at the same time, the servo motor 2041 in the two-axis motor combination 204 is started to cooperate with the first reduction motor 2042 to As the lifting gear 2043 rotates, it can cooperate with the second rack (203) to control the lifting plate 201 to move up and down, and with the assistance of the auxiliary cylinder 205, the height of the manipulator to the workpiece can be adjusted, and at the same time, the three-axis motor body 3021 in the three-axis motor assembly 302 is started to cooperate with the second reduction motor 3022 to rotate with the moving gear 3024, thereby controlling the second and third axis connecting seat 301 to move the first fixed rod 303 and the guide block 304 up and down, thereby controlling the processing profile 305 to move up and down, and at the same time, cooperating with the horizontal connecting main rod 309 and the support arm mechanism 310 to grasp the workpiece and perform lifting operations, so that the workpiece can be transported in multiple directions, thereby improving the transportation efficiency and enhancing the versatility of the manipulator.

[0034] See also Figure 4and Figure 5 The two-axis motor assembly 204 includes a servo motor 2041 installed on one side of the lifting plate 201, the front end of the servo motor 2041 is connected to the first reduction motor 2042, the output end of the first reduction motor 2042 is connected to the lifting gear 2043, and the lifting gear 2043 is meshed with the second rack (203).

[0035] In a specific embodiment, the servo motor 2041 cooperates with the first reduction motor 2042 and the lifting gear 2043 to facilitate the control of the upper and lower mechanisms 200 to perform lifting operations, so as to facilitate the conveying operations of the workpiece at different heights.

[0036] See also Figure 2 Two buffer pads 111 are installed on one end surface of the beam body 101 , and a buffer block 112 is installed inside the buffer pad 111 .

[0037] In a specific embodiment, the buffer pad 111 cooperates with the buffer block 112 to limit the processing profile 305 in combination.

[0038] See also Figure 4 A motor pad 211 is installed at the front end of the first reduction motor 2042 , and a first drag chain 212 is installed on the surface of the lifting plate 201 .

[0039] In a specific embodiment, the motor pad 211 can provide a buffering and protective effect on the first reduction motor 2042, and the first drag chain 212 can provide a guiding effect on the processed profile 305, thereby improving the movement stability.

[0040] See also Figure 4 A limited seat 221 is installed on one side of the lifting plate 201.

[0041] In a specific embodiment, the limiting seat 221 is convenient for improving the installation and limiting stability of the lifting plate 201.

[0042] See also Figure 4 A guide rail connecting seat 231 is installed on one side of the lifting plate 201 close to the beam body 101, and a first shield 232 is installed on the lower end of the lifting plate 201.

[0043] In a specific embodiment, the guide rail connection seat 231 is convenient for increasing the connection stability between the lifting plate 201 and the beam body 101 .

[0044] See also Figure 4 and Figure 5 The surface of the two-axis motor assembly 204 is covered with a second shield 241 , the surface of the second shield 241 is installed with a small sealing plate 242 , and the surface of the first reduction motor 2042 is installed with a reduction machine base 243 .

[0045] In a specific embodiment, the second shield 241 cooperates with the small sealing plate 242 to protect the first reduction motor 2042 .

[0046] See also Figure 6 and Figure 7 The three-axis motor assembly 302 includes a three-axis motor body 3021, the front end of the three-axis motor body 3021 is connected to the second reduction motor 3022, the front end of the second reduction motor 3022 is installed with an adjustment plate 3023, and the output end of the second reduction motor 3022 is connected to the moving gear 3024.

[0047] In a specific embodiment, the three-axis motor body 3021 cooperates with the second reduction motor 3022 to rotate the moving gear 3024 to control the second and third axis connecting bases 301 to perform height adjustment operations.

[0048] See also Figure 6 One end of the processed profile 305 is connected to a sensing piece 311 , both sides of the sensing piece 311 are connected to three-axis limiting columns 312 , and one end of the processed profile 305 is connected to an end plate 313 .

[0049] In a specific embodiment, the induction sheet 311 cooperates with the three-axis limiting column 312 to improve the installation stability of the processed profile 305 .

[0050] See also Figure 6 One end of the first fixing rod 303 is connected to the fixing block 321 , and the upper end of the guide block 304 is connected to the second fixing rod 322 .

[0051] In a specific embodiment, the fixing block 321 cooperates with the second fixing rod 322 to improve the installation stability of the guide block 304 .

[0052] See also Figure 6 A second drag chain 331 is installed at the lower end of the processed profile 305, and a drag chain mounting plate 332 is installed at the lower end of the second drag chain 331.

[0053] In a specific embodiment, the second drag chain 331 cooperates with the drag chain mounting plate 332 to improve the stability of the second and third axis connecting base 301 during movement.

[0054] Working principle: When in use, the crossbeam body 101 cooperates with the movable mounting plate 102 to mainly support and fix the entire device and hang it on the sides of the two columns of the punch press to ensure the overall firmness. Then, the guide bar 103 cooperates with the first rack 104 to control the lifting plate 201 to move horizontally along the crossbeam body 101 through the guide rail connecting seat 231 to perform feeding operations. Then, the servo motor 2041 in the two-axis motor combination 204 is started to cooperate with the first reduction motor 2042 to rotate the lifting gear 2043, so that the lifting plate 201 can be controlled to move in coordination with the second rack (203). The robot 302 is lifted and lowered, and at the same time, the three-axis motor body 3021 in the three-axis motor combination 302 is started to cooperate with the second reduction motor 3022 to rotate with the moving gear 3024, thereby controlling the second and third axis connecting seat 301 to carry the first fixed rod 303 and the guide block 304 to lift and lower, so as to control the lifting and lowering of the processed profile 305, and then cooperate with the horizontal connecting main rod 309 and the support arm mechanism 310 to grab the workpiece and perform lifting operations, so that the workpiece can be transported in multiple directions, thereby improving the transportation efficiency and enhancing the versatility of the robot.

[0055] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0056] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A single-speed manipulator, characterized in that: include: A beam frame mechanism (100) includes a beam body (101), movable mounting plates (102) are mounted on both ends of the beam body (101), a guide bar (103) and a first rack (104) are fixedly mounted on the surface of the beam body (101), and two detection sheet metals (105) are fixedly connected to the upper end of the beam body (101), wherein a cylindrical switch (106) is mounted inside one of the detection sheet metals (105); An upper and lower mechanism (200) includes two lifting plates (201) slidably connected to the surface of a beam body (101), a guide rail slider (202) is installed on one side of the two lifting plates (201), the upper end of the guide rail slider (202) is connected to a rack (203), a two-axis motor assembly (204) is installed on an adjacent side of the lifting plate (201), an auxiliary cylinder (205) is installed inside the lifting plate (201), and a plurality of positioning blocks (206) are installed on the side of the lifting plate (201) close to the beam body (101), and the plurality of positioning blocks (206) are all slidably connected to the side surface of the guide bar (103); A longitudinal moving mechanism (300) includes a two-axis and three-axis connecting seat (301) installed at the lower end of a lifting plate (201), a three-axis motor assembly (302) installed at the upper end of the two-axis and three-axis connecting seat (301), a first fixing rod (303) installed on the inner wall of the two-axis and three-axis connecting seat (301), two guide blocks (304) installed at the lower end of the first fixing rod (303), and a three-axis motor assembly (302) installed at the upper end of the two-axis and three-axis connecting seat (301). A processing profile (305) is provided, one end of the processing profile (305) is connected to a profile clamp (306), two positioning plates (307) are detachably connected between the profile clamp (306) and the processing profile (305), a detection block (308) is installed at the upper end of the guide block (304), a transverse connecting main rod (309) is installed at the front end of the processing profile (305), and an arm mechanism (310) is installed on the surface of the transverse connecting main rod (309).

2. A single-speed manipulator according to claim 1, characterized in that: The two-axis motor assembly (204) comprises a servo motor (2041) installed on one side of the lifting plate (201); the front end of the servo motor (2041) is connected to a first reduction motor (2042); the output end of the first reduction motor (2042) is connected to a lifting gear (2043); and the lifting gear (2043) is meshedly connected to the rack (203).

3. The single-speed manipulator according to claim 1, characterized in that: Two buffer pads (111) are installed on one end surface of the crossbeam body (101), and a buffer stopper (112) is installed inside the buffer pad (111).

4. The single-speed manipulator according to claim 2, characterized in that: A motor pad (211) is installed at the front end of the first reduction motor (2042), and a first drag chain (212) is installed on the surface of the lifting plate (201).

5. The single-speed manipulator according to claim 1, characterized in that: A limiting seat (221) is installed on one side of the lifting plate (201).

6. The single-speed manipulator according to claim 1, characterized in that: A guide rail connection seat (231) is installed on one side of the lifting plate (201) close to the beam body (101), and a first protective cover (232) is installed at the lower end of the lifting plate (201).

7. The single-speed manipulator according to claim 2, characterized in that: The surface of the two-axis motor assembly (204) is covered with a second protective cover (241), the surface of the second protective cover (241) is installed with a small sealing plate (242), and the surface of the first reduction motor (2042) is installed with a reduction machine base (243).

8. The single-speed manipulator according to claim 1, characterized in that: The three-axis motor assembly (302) comprises a three-axis motor body (3021), the front end of the three-axis motor body (3021) is connected to a second reduction motor (3022), the front end of the second reduction motor (3022) is installed with an adjustment plate (3023), and the output end of the second reduction motor (3022) is connected to a moving gear (3024).

9. The single-speed manipulator according to claim 1, characterized in that: One end of the processed profile (305) is connected to a sensing piece (311), both sides of the sensing piece (311) are connected to three-axis limiting columns (312), and one end of the processed profile (305) is connected to an end plate (313).

10. The single-speed manipulator according to claim 1, characterized in that: One end of the first fixing rod (303) is connected to a fixing block (321), and the upper end of the guide block (304) is connected to a second fixing rod (322).

11. The single-speed manipulator according to claim 1, characterized in that: A second drag chain (331) is installed at the lower end of the processed profile (305), and a drag chain mounting plate (332) is installed at the lower end of the second drag chain (331).

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