CN103659413B - Translation mechanism and have its mechanical hand of transplanting - Google Patents

Abstract

The invention provides a translation mechanism and a transplanting manipulator having the same. The translation mechanism includes a base part, a translation part movable relative to the base part along a translation direction, and a driving part that drives the translation part to move. The translation part includes a translation bracket, two supports arranged on the translation bracket, and a An annular transmission body on a support body, the first side of the annular transmission body located on the line connecting the centers of the two support bodies has a first connection part fixedly connected with the base part, and the second side has a second connection part fixedly connected with the actuator connecting part. When the translation bracket moves in parallel in the axial direction, the relative position of the actuator and the first connecting part in the axial direction of the translation bracket will change. Due to the speed-up principle of the movable pulley, the actuator can move faster and farther, realizing the energy saving of the manipulator and the improvement of feeding efficiency.

Description

A kind of translation mechanism and transplanting manipulator with it

technical field

The invention relates to a manipulator moving mechanism, in particular to a translation mechanism and a transplanting manipulator with it, so as to realize the double-speed movement of the actuator.

Background technique

At present, manipulators have been used for the loading and unloading of batch processing of sheet metal parts. The specific actuators are composed of vacuum chucks or electromagnetic chucks, and the linear movement of the actuators is driven by cylinders, motor screw combinations or belt transmissions. The product with mature technology is a single-head high-speed transplanting manipulator. The manipulator mainly realizes the movement in two directions, of which the up and down movement is directly driven by the servo motor and ball screw to the two up and down working points; the left and right movement is driven by the servo motor. 1. Timing belt, which is directly connected to the suction cup actuator through the timing belt, and the moving speed of the suction cup actuator is equal to the linear speed of the rotation of the synchronous belt wheel. At the same time, the left and right movement distance of the suction cup actuator cannot exceed the length of the timing belt. When transporting materials between long-distance processes, two manipulators and a central station are needed to assist in the secondary transplanting of the left, middle and right working points. Such a slow, short-distance left and right moving mechanism is not conducive to the improvement of production efficiency and the saving of energy.

Contents of the invention

The purpose of the present invention is to provide a translation mechanism and a transplanting manipulator with it, which can make the distance of the actuator move left and right exceeds the length of the synchronous belt to improve production efficiency.

In order to achieve the above object, the present invention provides a translation mechanism, including a base body, a translation unit movable relative to the base unit along a translation direction, and a drive unit for driving the translation unit to move, the translation unit includes a translation bracket, arranged on The two supporting bodies on the translation bracket and the annular transmission body wound on the two supporting bodies, the first side of the annular transmission body located on the line connecting the centers of the two supporting bodies has a first side fixedly connected with the base part. The connecting part has a second connecting part fixedly connected with the actuator on the second side.

Furthermore, the driving part includes a driving motor, a synchronous wheel with synchronous teeth installed on the driving motor, and a synchronous bar with a synchronous slot meshed with the synchronous teeth of the synchronous wheel, the driving motor is fixedly arranged on the base part and translates On one of the two parts, the synchronization bar is fixedly arranged on the other one of the base part and the translation part.

Furthermore, the synchronous wheel is a gear or a sprocket or a synchronous pulley, and correspondingly, the synchronous bar is a rack or a chain or a synchronous belt.

Furthermore, the drive motor is fixedly arranged on the base part, the synchronous wheel is a synchronous belt pulley, the synchronous bar is a synchronous belt with both ends fixed on the translation support, and the driving part also includes a synchronous belt arranged on both sides of the synchronous belt wheel to increase Two idler pulleys with wrap angles on timing pulleys.

Furthermore, the extending direction of the line connecting the centers of the two supporting bodies is consistent with the translation direction.

Furthermore, the translation bracket is provided with a first guide rail and a second guide rail extending along the translation direction, the base part is provided with a first fitting part matched with the first guide rail, and the actuator is provided with a second guide rail matched with the second guide rail. Cooperate with the Ministry.

Furthermore, the two supporting bodies on the translation support are pulleys, and the endless conveying body is an endless conveyor belt.

The present invention also provides a transplanting manipulator, which includes the above-mentioned parallel movement mechanism, a return base frame, and a vertical elevating mechanism. The vertical lifting mechanism includes: a vertical fixing part fixed on the base frame and a vertical moving part that can be raised and lowered relative to the vertical fixing part, and the base part of the translation mechanism is fixedly connected to the longitudinal moving part.

Furthermore, a vertical guide rail is provided on the base frame, and a vertical guide groove cooperating with the vertical guide rail is provided on the longitudinal moving part.

The present invention has the following beneficial effects:

It can be seen from the principle of the movable pulley that after adopting the above scheme, the moving speed of the actuator is twice that of the translation support. Therefore, when the speed of the pulley is constant, the movement speed of the actuator is faster; when the overall volume is constant, the stroke of the actuator is longer. Since the actuator moves faster and farther, the efficiency of material transportation in the production process is improved; the energy consumption of material transportation is reduced.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.

Description of drawings

Fig. 1 is a schematic diagram of the transplanting manipulator in the embodiment of the present invention when the actuator is in the middle;

Fig. 2 is the schematic structural view of the longitudinal lifting mechanism of the transplanting manipulator of the embodiment of the present invention;

3 is an overall schematic diagram of the translation mechanism of the embodiment of the present invention;

Fig. 4 is a schematic diagram of the motion principle of the translation mechanism of the present invention;

Fig. 5 is a partially enlarged schematic diagram of place A in Fig. 4;

Fig. 6 is a schematic diagram of the partial structure of the parallel movement mechanism in the present invention, which shows the translation bracket, the idler wheel, and the control wiring belt;

Fig. 7 is a schematic diagram of the partial structure of the parallel movement mechanism in the present invention, in which the translation bracket, idler wheel, and control routing belt are not shown;

Fig. 8 is a schematic diagram of the actuator of the present invention when it moves to a limit position at one end;

Fig. 9 is a schematic diagram of the actuator of the present invention when it moves to the limit position at the other end.

In the figure: 1, base frame; 2, vertical lifting mechanism; 3, translation mechanism; 4, executive mechanism; 5, control box; 6, fixed block; 21, motor; 22, gear; 23, screw nut; 24, Screw rod; 25, longitudinal moving part; 26, vertical guide rail; 27, vertical guide groove; 31, base part; 32, driving part; 33, translation support; 34, support body; Connection part; 41, second connection part; 42, suction cup; 51, control cable belt; 321, drive motor; 322, timing pulley; 323, idler wheel; 324, timing belt; 331, first guide rail; 332 Second rail.

detailed description

Please refer to FIG. 3 to FIG. 7 for the parallel movement mechanism of the present invention.

The driving part 32 is arranged on the base part 31 of the translation mechanism, and its function is to drive the translation bracket 33 to perform parallel movement along its axial direction. The annular transmission body extends along the axial direction of the translation support 33 and winds around the translation support 33 through two support bodies 34 arranged on the translation support 33 . The circular transmission body is fixed on the base part 31 of the translation mechanism through the first connection part 36 , the actuator 4 is fixedly arranged on the circular transmission body, and the actuator 4 and the first connection part 36 are distributed on both sides of the translation bracket 33 . In this way, when the translation bracket 33 moves in parallel in the axial direction, the relative position of the actuator 4 and the first connecting portion 36 in the axial direction of the translation bracket 33 will change. Referring to the schematic diagram of the movement principle in FIG. 4 , since the first connection part 36 is fixed on the base part 31 of the parallel movement mechanism, the movement of the actuator 4 relative to the first connection part 36 is its parallel movement.

Further, as shown in FIG. 3 , the endless conveyor is preferably a conveyor belt 35 , and the two supporting bodies 34 are two pulleys, which are respectively arranged at both ends of the translation support 33 to facilitate the sliding of the conveyor belt 35 covering it. The conveyor belt 35 winds around the translation support 33 along the axial direction of the translation support 33 through the support body 34 . The supporting body 34 can be a conventional component that can reduce rotational friction such as a pulley or a roller.

Preferably, the conveyor belt 35 includes a second connection portion 41 connected to the actuator 4 , and the distance between the second connection portion 41 and the first connection portion 36 on the conveyor belt 35 is half the circumference of the conveyor belt 35 .

Furthermore, a first guide rail 331 and a second guide rail 332 are provided on the translation bracket 33 . Referring to FIG. 5 , the base part 31 of the parallel movement mechanism is provided with a matching part matched with the first guide rail 331 . In this way, the translation bracket 33 can move smoothly in its axial direction on the parallel movement mechanism base portion 31 . The actuator 4 is provided with a matching portion that cooperates with the second guide rail 332 to ensure that the actuator 4 can slide smoothly on the translation bracket 33 . Preferably, the above-mentioned matching portion cooperates with the first and second guide rails in a convex-groove manner. In this way, the translation mechanism 3 can bear relatively large weight in the direction perpendicular to the first and second guide rails.

Further, referring to FIGS. 5 to 7 , the translation bracket 33 is driven by the driving part 32 to move parallelly along its axial direction. The drive portion includes a drive motor 321, a synchronous wheel with synchronous teeth installed on the drive motor, and a synchronous bar with a synchronous groove meshed with the synchronous teeth of the synchronous wheel, and the drive motor 321 is fixedly arranged on the base portion 31 and the translation portion On one of the two, the synchronization bar is fixedly arranged on the other of the base part 31 and the translation part. In this embodiment, the driving motor 321 is fixedly arranged on the base part 31 , and the timing bar is fixedly arranged on the base part 31 and the translation part.

The timing bar is preferably a timing belt 324 , and correspondingly, the timing wheel is preferably a timing pulley 322 . The driving part 32 includes a driving motor 321, a synchronous pulley 322, an idler 323, and a synchronous belt 324. The driving motor 321 is installed on the base part 31 of the parallel movement mechanism, and drives the synchronous pulley 322 through a belt drive (not shown in the drawings). turn. The length of the synchronous belt 324 is approximately equal to the length of the translation bracket 33 . The timing belt 324 is pressed on the timing belt 324 by the idler pulleys 323 on both sides of the timing pulley 322 , and the two ends are fixed with the translation bracket 33 by the fixed block 6 . In this way, when the driving motor 321 rotates in the forward and reverse directions, the translation bracket 33 can be driven back and forth to move in parallel along its axial direction through the synchronous belt 324 . Preferably, the number of idler wheels 323 is two. According to the principle of movable pulley, it can be seen that when the speed of the pulley remains unchanged, the movement speed of the moving parts is increased.

Furthermore, the actuator 4 is provided with a suction cup 42 to absorb parts to be transplanted. The suction cup 42 can be vacuum type, electromagnetic type, or both. In this way, parts with flat surfaces and/or sheet metal materials can be accommodated.

Referring to Figures 3 to 7, the movement principle of the translation mechanism 3 is as follows: the translation bracket 33 can move in parallel on the base part 31 of the parallel movement mechanism, and pulleys are provided at both ends. The conveyor belt 35 circles the translation bracket through the pulley; the actuator 4 is fixed on the transmission belt 35, and when the conveyor belt 35 rotates relative to the translation bracket 33, the actuator 4 can move with the conveyor belt 35 relative to the translation bracket 33. The conveyor belt 35 is fixed on the base part 31 of the parallel movement mechanism through the first connection part 36 on the other side of the translation bracket 33 relative to the actuator 4 (see FIG. 4 for details). It can be seen from this that when the translation bracket 33 moves along its axial direction relative to the base part 31 of the parallel movement mechanism, the conveyor belt 35 wound thereon can be rotated. That is, the actuator 4 can also move in parallel relative to the base part 31 of the parallel movement mechanism along the axial direction of the translation support 33 . Analyzing the schematic diagram of motion in Fig. 4, the pulleys 34 at both ends of the translation support 33 are moving pulleys relative to the base part 31 of the parallel movement mechanism. From the principle of the speed-up movement of the moving pulley, it can be known that the speed at which the actuator 4 moves is the speed at which the translation support 33 moves (i.e. twice the linear velocity of the synchronous pulley 322 rotation). Moreover, the movement distance of the actuator 4 is twice the length of the translation support. Therefore, while the overall volume remains the same, the stroke of the moving parts is increased.

The transplanting manipulator of the present invention utilizes the aforementioned parallel movement mechanism, see FIGS. 1 and 2 and FIGS. 8 and 9 for details.

It can be seen from the figure that the transplanting manipulator of the present invention not only includes the above-mentioned translation mechanism 3 , but also includes a base frame 1 , a longitudinal lifting mechanism 2 , and a control box 5 . As shown in Figure 2, the vertical lifting mechanism 2 includes: a motor 21, a gear 22, a screw nut 23, a screw mandrel 24, and a connecting plate 25, wherein the motor 21 is fixed on the base frame 1 and drives the screw mandrel 24 to rotate through the gear 22 , the screw nut 23 is fixed on the connection plate 25, the base frame 1 is provided with a vertical guide rail 26, and the connection plate 25 is provided with a vertical guide groove 27 matched with the vertical guide rail 26, the connection The plate 25 is fixedly connected with the base part 31 of the parallel movement mechanism. Therefore, the efficiency of material transportation in the production process is improved, and the energy consumption of material transportation is reduced.

The motion process of the longitudinal lifting mechanism 2 is: the motor 21 drives the screw mandrel 24 to rotate through the gear 22, and the screw mandrel nut 23 moves up and down on the screw mandrel 24. Since the screw rod 24 has no displacement relative to the base frame 1 in the vertical direction, the screw nut 23 moves up and down relative to the base frame 1 . The screw nut 23 is fixed on the connecting plate 25, and the connecting plate 25 is fixedly connected with the base part 31 of the parallel movement mechanism, so the up and down movement of the screw nut 23 can be converted into the vertical lifting motion of the whole translation mechanism 3 .

Furthermore, vertical guide rails 26 are arranged on both sides of the base frame 1, and the connecting plate 25 is provided with vertical guide grooves 27 matching with the vertical guide rails 26, so that the longitudinal lifting movement of the parallel movement mechanism 23 is more stable.

Further, the control box 5 is arranged on the lower part of the base frame 1 to control the rotation direction and rotation time of the driving motor 321, the rotation direction and the rotation time of the motor 21, and control the on-off of the suction force of the suction cup 42 through the flexible control wiring belt 51. .

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. a transplanting manipulator, it is characterized in that, described transplanting manipulator comprises pedestal (1), longitudinal elevating mechanism (2) and horizontal movement mechanism, and described horizontal movement mechanism is translation mechanism, and described translation mechanism comprises The base part (31), the translation part movable along the translation direction relative to the base part (31), and the driving part (32) driving the translation part to move, the translation part includes a translation bracket (33), arranged on The two support bodies (34) on the translation support (33) and the circular transmission body wound on the two support bodies (34), the circular transmission body is located on the two support bodies (34) The first side of the central connection line has a first connecting portion (36) fixedly connected to the base portion (31), and the second side has a second connecting portion (41) fixedly connected to the actuator (4). The driving part includes a driving motor (321), a synchronous wheel with synchronous teeth installed on the driving motor, and a synchronous bar with a synchronous groove meshed with the synchronous teeth of the synchronous wheel, and the driving motor (321 ) is fixedly arranged on one of the base part (31) and the translation part, and the synchronization bar is fixed on the other of the base part (31) and the translation part. 2. The transplanting manipulator according to claim 1, wherein the synchronous wheel is a gear or a sprocket or a synchronous pulley, and correspondingly, the synchronous bar is a rack or a chain or a synchronous belt. 3. The transplanting manipulator according to claim 1, characterized in that, the drive motor (321) is fixedly arranged on the base part (31), the synchronous pulley is a synchronous pulley (322), and the The synchronous bar is a synchronous belt (324) whose two ends are fixed on the translation support, and the drive part also includes a timing belt (324) arranged on both sides of the synchronous pulley (322) to increase the speed of the synchronous belt (324) in the Two idle pulleys (323) of wrap angle on the synchronous pulley (322). 4. The transplanting manipulator according to claim 1, characterized in that, the extension direction of the line connecting the centers of the two support bodies (34) is consistent with the translation direction. 5. The transplanting manipulator according to claim 4, characterized in that, the translation support (33) is provided with a first guide rail (331) and a second guide rail (332) extending along the translation direction, the The base part (31) is provided with a first matching part matched with the first guide rail, and the actuator (4) is provided with a second matching part matched with the second guide rail (332). 6. The transplanting manipulator according to claim 1, characterized in that, the two supporting bodies (34) on the translation support are respectively pulleys, and the endless conveying body is an endless conveyor belt (35). 7. The transplanting manipulator according to any one of claims 1 to 6, characterized in that, the longitudinal lifting mechanism (2) comprises: a longitudinal fixing portion fixedly arranged on the base frame (1) and a relative The vertical fixing part is a vertical moving part that can be lifted up and down, and the base part (31) of the translation mechanism is fixedly connected to the vertical moving part. 8. The transplanting manipulator according to claim 7, characterized in that, the base frame (1) is provided with a vertical guide rail (26), and the longitudinal moving part is provided with a vertical guide rail (26). ) with the vertical guide groove (27).