Feeding and discharging manipulator driven by double motors

Abstract

The utility model relates to the technical field of feeding and discharging mechanical arms, in particular to a feeding and discharging mechanical arm driven by double motors. Comprising a rack, an electric control cabinet, a left-right moving mechanism and an adjusting mechanism, the adjusting mechanism comprises a sliding base, a vertical mechanical arm, a vertical servo motor, a gear, a rotating servo motor, a suction cup frame, a synchronous wheel, a synchronous cog belt, a horizontal limiting device and a vertical limiting device, and when a workpiece is placed, the rotating servo motor acts to drive the synchronous wheel on an output shaft of the rotating servo motor to rotate; the synchronous wheel rotates to drive the synchronous toothed belt to act, so that the synchronous wheel mounted on the transmission shaft of the suction cup frame can be driven to rotate, the rotation of the suction cup frame and the rotation of a workpiece can be realized, and the angle can be adjusted during placement; the problems that when a workpiece is grabbed, only three-axis linear clamping conveying can be conducted, the angle of the clamped workpiece cannot be adjusted, the workpiece is inconvenient to install, and practicability is low are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of feeding and discharging manipulator, especially to a feeding and discharging manipulator driven by double motors. BACKGROUND

[0002] At present, in the numerical control machine tool production and processing workshop, in order to improve production efficiency and process high-quality qualified products, the operator needs to accurately and smoothly take and place different types of processing materials, because the machine tool turntable is provided with different types of sharp cutters, if the material is taken and placed carelessly, the operator will be physically injured, and the production efficiency will be reduced.

[0003] The prior art CN210633346U discloses a machine tool feeding and discharging manipulator, and relates to the technical field of manipulators. The feeding and discharging manipulator comprises a mounting plate, a vertical beam, a sliding table, a bracket, a controller, an electric control box, a drag chain, an alarm device, a sliding strip, an engineering drag chain, a sliding rail, a clamping groove, an end execution mechanism, a sliding channel, a motor, a fixing plate, a control panel and a cross beam. The end execution mechanism comprises a cylinder, a connecting plate, a clamping sleeve, a clamping jaw, a suction cup clamping jaw and a suction cup. The combination characteristics of the sliding rail, the engineering drag chain, the drag chain, the sliding channel and the cross beam are utilized. Under the action of the motor and the controller, the end execution mechanism moves in the front-rear, left-right and up-down directions. The end execution mechanism is provided with two types of clamping jaws, can simultaneously clamp and take different types of objects, different operation commands can be issued to the manipulator through the control panel, and corresponding operations are completed. The machine tool feeding and discharging manipulator runs stably, is high in flexibility and improves production efficiency.

[0004] However, the above-mentioned manipulator can only perform three-axis linear clamping conveying during the grabbing of workpieces, cannot adjust the angle of the clamped workpieces, is inconvenient for workpiece installation, and has low practicability. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a feeding and discharging manipulator driven by double motors, and aims at solving the problems that the existing manipulator can only perform three-axis linear clamping conveying during the grabbing of workpieces, cannot adjust the angle of the clamped workpieces, is inconvenient for workpiece installation, and has low practicability.

[0006] To achieve the above-mentioned purpose, the utility model provides a feeding and discharging manipulator driven by double motors, which comprises a rack, an electric control cabinet and a left-right moving mechanism are arranged on the rack, a control PLC is arranged in the electric control cabinet, and an adjusting mechanism is further arranged.

[0007] The adjusting mechanism comprises a sliding seat, a vertical mechanical arm, a vertical servo motor, a gear, a rotary servo motor, a suction disc frame, a synchronous wheel, a synchronous toothed belt, a horizontal limiting device and a vertical limiting device, the sliding seat is connected with the fixed clamping plate of the transmission synchronous belt of the left-right moving mechanism, the vertical mechanical arm is arranged in the internal cavity of the sliding seat, the linear slide block mechanisms on the two sides of the vertical mechanical arm are detachably connected with the sliding seat, the vertical servo motor is fixed on the sliding seat, the gear is fixed on the output shaft of the vertical servo motor and is engaged with the linear rack installed on the vertical mechanical arm, the rotary servo motor is fixed on the bottom mounting end of the vertical mechanical arm, the suction disc frame is installed on the side of the vertical mechanical arm close to the rotary servo motor, the synchronous wheels are respectively installed on the output shaft of the rotary servo motor and the transmission shaft of the suction disc frame, the synchronous toothed belt is engaged with the synchronous wheels, the horizontal limiting devices are arranged on the two sides of the rack, and the vertical limiting devices are arranged on the two sides of the vertical mechanical arm.

[0008] The left-right moving mechanism comprises a horizontal servo motor and a transmission device, the horizontal servo motor is fixed on one side of the rack, and the transmission device is arranged on the rack and driven to act by the horizontal servo motor.

[0009] The horizontal limiting device comprises a first rubber block and a second rubber block, the first rubber block is fixed on one side of the rack, and the second rubber block is fixed on the side of the rack away from the first rubber block.

[0010] The vertical limiting device comprises an upper limiting column and a lower limiting column, the fixed support of the upper limiting column is fixed on the top side of the vertical mechanical arm, and the fixed support of the lower limiting column is fixed on the bottom side of the vertical mechanical arm.

[0011] The rack is provided with a horizontal direction and a vertical direction.

[0012] The utility model discloses a kind of double-motor drive's feeding and discharging manipulator, and manipulator works by left-right drive mechanism drive sliding seat left-right movement carries out suction disc frame horizontal position adjustment, after suction disc frame adsorbs workpiece, vertical servo motor acts, drives vertical mechanical arm lifting and can realize suction disc frame vertical lifting, realizes workpiece lifting and carries out conveying, further, rotary servo motor act drives synchronous wheel on its output shaft rotation, synchronous wheel after rotation drives synchronous toothed belt action, it can drive synchronous wheel on the transmission shaft installed in suction disc frame rotation, to realize suction disc frame rotation, realize workpiece rotation, can carry out angle adjustment when placing, and further can solve the existing manipulator when actual use, when the workpiece is grabbed, only three-axis linear clamping conveying can be carried out, angle adjustment cannot be carried out to clamping workpiece, inconvenient to workpiece installation, and practicality is lower Problem. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced.

[0014] Figure 1 is the overall structure schematic diagram of the double-motor driven feeding and discharging manipulator.

[0015] Figure 2 is the installation position schematic diagram of the gear.

[0016] Figure 3 is the structure schematic diagram of the vertical mechanical arm.

[0017] Figure 4 is the installation position schematic diagram of the synchronous wheel.

[0018] Figure 5 is the installation position schematic diagram of the synchronous toothed belt.

[0019] In the figure: 101-frame, 102-electric control cabinet, 103-control PLC, 104-sliding seat, 105-vertical mechanical arm, 106-vertical servo motor, 107-gear, 108-rotary servo motor, 109-suction cup frame, 110-synchronous wheel, 111-synchronous toothed belt, 112-horizontal servo motor, 113-transmission device, 114-first rubber block, 115-second rubber block, 116-upper limit post, 117-lower limit post, 118-accordion bracket. DETAILED DESCRIPTION

[0020] The embodiments of the present application will be described in detail below, examples of which are shown in the drawings, the embodiments described below by referring to the drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0021] As shown in Figures 1 to 5 , wherein Figure 1 is the overall structure schematic diagram of the double-motor driven feeding and discharging manipulator, Figure 2 is the installation position schematic diagram of the gear 107, Figure 3 is the structure schematic diagram of the vertical mechanical arm 105, Figure 4 is the installation position schematic diagram of the synchronous wheel 110, Figure 5Is the installation position schematic diagram of synchronous toothed belt 111, the utility model provides a kind of double-motor drive's feeding and discharging manipulator: including rack 101, electric control cabinet 102, left and right moving mechanism and adjusting mechanism, the adjusting mechanism includes slide 104, vertical mechanical arm 105, vertical servo motor 106, gear 107, rotary servo motor 108, suction disc frame 109, synchronous wheel 110, synchronous toothed belt 111, horizontal limiting device and vertical limiting device, the left and right moving mechanism includes horizontal servo motor 112 and transmission 113, the horizontal limiting device includes first rubber block 114 and second rubber block 115, the vertical limiting device includes upper limiting column 116 and lower limiting column 117. Through the foregoing scheme, the existing manipulator can be solved when being used in practice, when the workpiece is gripped, only three-axis linear clamping conveying can be carried out, the angle of the workpiece cannot be adjusted, the workpiece is inconvenient to install, and the practicability is low. It can be understood that the foregoing scheme can realize angle adjustment when the workpiece is placed.

[0022] In the embodiment, the rack 101 is provided with the electric control cabinet 102 and the left and right moving mechanism, the electric control cabinet 102 is provided with the control PLC 103, and the electric control cabinet 102 is also provided with the matching electrical elements.

[0023] The slide 104 is connected with the fixed clamping plate of the transmission synchronous belt of the left and right moving mechanism, the vertical mechanical arm 105 is arranged in the internal cavity of the slide 104, the linear slide block mechanism on the two sides of the vertical mechanical arm 105 is detachably connected with the slide 104, the vertical servo motor 106 is fixed on the slide 104, the gear 107 is fixed on the output shaft of the vertical servo motor 106 and is engaged with the linear rack installed on the vertical mechanical arm 105, the rotary servo motor 108 is fixed on the bottom mounting end of the vertical mechanical arm 105, the suction disc holder 109 is installed on the side of the vertical mechanical arm 105 close to the rotary servo motor 108, the synchronous wheels 110 are respectively installed on the output shaft of the rotary servo motor 108 and the transmission shaft of the suction disc holder 109, the synchronous toothed belt 111 is engaged with the synchronous wheels 110, the horizontal limiting device is arranged on the two sides of the rack 101, and the vertical limiting device is arranged on the two sides of the vertical mechanical arm 105. The two support arms of the rack 101 are respectively provided with symmetrical sliding grooves with T-shaped cross sections, sliding blocks with I-shaped cross sections are arranged in the sliding grooves, one side of the sliding block is slidably connected with the T-shaped symmetrical sliding groove on the rack 101, and the other side is connected with the slide 104 through bolts, the vertical mechanical arm 105 is arranged in the internal cavity of the slide 104, linear slide block mechanisms are arranged on the two sides of the vertical mechanical arm 105, the linear slide block mechanisms adopt HGH / W series linear guide rails and linear slide block structures, the linear guide rails are fixed on the vertical mechanical arm 105 through countersunk bolts, the linear slide blocks can be linearly slid with the linear guide rails and are connected with the slide 104 through bolts, a linear rack is installed on the vertical mechanical arm 105 through countersunk bolts, the linear rack is engaged with the gear 107 fixed on the output shaft of the vertical servo motor 106, the vertical servo motor 106 is fixed on the slide 104 through bolts, the rotary servo motor 108 is fixed through bolts, the synchronous wheel 110 is fixed and installed on the output shaft of the rotary servo motor 108 through a key and a bolt, the connecting frame of the suction disc holder 109 is connected with the vertical mechanical arm 105 through bolts, the rotary transmission shaft of the front suction disc mounting part is installed on the connecting frame through a rotary bearing, a vacuum generator is arranged on one side of the suction disc holder 109, the transmission shaft of the suction disc holder 109 is installed with the synchronous wheel 110, the synchronous wheels 110 are driven and matched through the synchronous toothed belt 111 arranged therebetween, the horizontal limiting device is used for limiting when the slide 104 moves horizontally, and the vertical limiting device is used for limiting when the vertical mechanical arm 105 moves vertically.

[0024] Secondly, the horizontal servo motor 112 is fixed on one side of the frame 101; the transmission device 113 is arranged on the frame 101 and is driven to act by the horizontal servo motor 112. The horizontal servo motor 112 is fixed on the frame 101 by bolts, the transmission device 113 is composed of a transmission shaft, a transmission synchronous wheel and a transmission synchronous belt, the transmission shaft is fixed on the frame 101 by a bearing seat and a rotating bearing on both sides respectively, the transmission synchronous wheel is installed on the transmission shaft by a flat key, the transmission shaft is connected with the output shaft of the horizontal servo motor 112 by a coupling on one side, the transmission synchronous belt is fixed on the clamping plate by a pressing plate and a bolt on both sides respectively, the clamping plate is connected with the slide base 104 by a bolt, and the clamping plate is arranged at the bottom of the slide base 104, so that in working, the horizontal servo motor 112 acts to drive the transmission shaft to rotate, the transmission shaft rotates to drive the transmission synchronous wheel to rotate, so that the transmission synchronous belt acts to drive the slide base 104 to move horizontally and leftward and rightward.

[0025] Then, the first rubber block 114 is fixed on one side of the frame 101; the second rubber block 115 is fixed on the side of the frame 101 away from the first rubber block 114. The first rubber block 114 and the second rubber block 115 are fixed on the frame 101 by countersunk head bolts respectively, and can be buffered when the slide base 104 moves to both sides, and the moving distance of the slide base 104 leftward and rightward can be controlled by the encoder parameters of the horizontal servo motor 112 set by the numerical control system.

[0026] Further, the fixed support of the upper limiting column 116 is fixed on the top side of the vertical mechanical arm 105; the fixed support of the lower limiting column 117 is fixed on the bottom side of the vertical mechanical arm 105. The upper limiting column 116 and the lower limiting column 117 are fixed on the positioning support by countersunk head bolts respectively, the positioning support is fixed on the vertical mechanical arm 105 by bolts, the upper limiting column 116 and the lower limiting column 117 can be positionally limited when the vertical mechanical arm 105 moves vertically, and meanwhile, the action position of the vertical mechanical arm 105 will be controlled by the encoder parameters of the vertical servo motor 106 set by the numerical control system.

[0027] Finally, the frame 101 is provided with a horizontal direction and a vertical direction of the bellows bracket 118. The bellows bracket 118 functions to protect the cable when moving.

[0028] The mechanical hand can be connected with the external positioning support through the rack 101 to realize equipment setting at a machining equipment cooperation point, then the mechanical hand moves left and right to adjust the horizontal position of the suction disc frame 109 through the left and right driving mechanism when working, after the suction disc frame 109 adsorbs a workpiece, the vertical servo motor 106 acts, drives the gear 107 to rotate, the gear 107 drives the vertical mechanical arm 105 to ascend and descend under the cooperation of the linear rack on the vertical mechanical arm 105, thereby realizing the vertical ascending and descending of the suction disc frame 109, realizing workpiece ascending and descending for conveying, further, the rotary servo motor 108 acts to drive the synchronous wheel 110 on the output shaft to rotate, the synchronous wheel 110 drives the synchronous toothed belt 111 to act after rotating, the synchronous wheel 110 on the transmission shaft installed on the suction disc frame 109 can be driven to rotate, thereby realizing the rotation of the suction disc frame 109, realizing workpiece rotation, angle adjustment can be carried out when placing, and the problems that the existing mechanical hand can only carry out three-axis linear clamping conveying when grabbing a workpiece in actual use, cannot adjust the angle of the clamped workpiece, is inconvenient for workpiece installation and has low practicability can be solved.

[0029] The above only discloses one or more preferred embodiments of the application, and cannot limit the scope of the application. Those skilled in the art can understand that all or part of the above-mentioned embodiments can be implemented, and equivalent changes made according to the claims of the application still fall within the scope of the application.

Claims

1. A double-motor-driven feeding and discharging manipulator, comprising a rack, an electric control cabinet and a left-right moving mechanism arranged on the rack, and a control PLC arranged in the electric control cabinet, characterized in that: it further comprises an adjusting mechanism; the adjusting mechanism comprises a sliding seat, a vertical mechanical arm, a vertical servo motor, a gear, a rotary servo motor, a suction disc rack, a synchronous wheel, a synchronous toothed belt, a horizontal limiting device and a vertical limiting device; the sliding seat is connected with a fixed clamping plate of a transmission synchronous belt of the left-right moving mechanism; the vertical mechanical arm is arranged in an inner cavity of the sliding seat; linear slide block mechanisms on both sides of the vertical mechanical arm are detachably connected with the sliding seat; the vertical servo motor is fixed on the sliding seat; the gear is fixed on an output shaft of the vertical servo motor and is engaged with a linear rack installed on the vertical mechanical arm; the rotary servo motor is fixed on a bottom mounting end of the vertical mechanical arm; the suction disc rack is installed on a side of the vertical mechanical arm close to the rotary servo motor; the synchronous wheels are respectively installed on output shafts of the rotary servo motor and a transmission shaft of the suction disc rack; the synchronous toothed belt is engaged with the synchronous wheels; the horizontal limiting device is arranged on both sides of the rack; and the vertical limiting device is arranged on both sides of the vertical mechanical arm.

2. The double-motor-driven feeding and discharging manipulator according to claim 1, characterized in that: the left-right moving mechanism comprises a horizontal servo motor and a transmission device; the horizontal servo motor is fixed on one side of the rack; and the transmission device is arranged on the rack and is driven to act by the horizontal servo motor.

3. The double-motor-driven feeding and discharging manipulator according to claim 1, characterized in that: the horizontal limiting device comprises a first rubber block and a second rubber block; the first rubber block is fixed on one side of the rack; and the second rubber block is fixed on a side of the rack away from the first rubber block.

4. The double-motor-driven feeding and discharging manipulator according to claim 1, characterized in that: the vertical limiting device comprises an upper limiting column and a lower limiting column; a fixed support of the upper limiting column is fixed on a top side of the vertical mechanical arm; and a fixed support of the lower limiting column is fixed on a bottom side of the vertical mechanical arm. The rack is provided with a horizontal direction and a vertical direction of a bellows bracket. ​ ​ ​ ​ 5. The dual motor driven material handling robot of claim 1 wherein : ​

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