阅读说明：本技术 一种机械手及其控制方法 (Manipulator and control method thereof ) 是由 章钢锋 陈君 于 2021-07-31 设计创作，主要内容包括：本发明公开了一种机械手及其控制方法,具有结构简单、成本低的特点,适用于老旧机床的改造,其技术方案要点是一种机械手,包括：固定架；上料机构,上料机构包括可旋转的料盘；取料爪,用于抓取料盘上的物料；平移机构,用于驱动取料爪在固定架上平移；升降机构,用于驱动取料爪的升降移动；其中,平移机构安装于固定架上且与固定架滑动连接,升降机构安装于平移机构上,取料爪安装于升降机构上,本发明适用于机械技术领域。(The invention discloses a manipulator and a control method thereof, which have the characteristics of simple structure and low cost, are suitable for the reconstruction of old machine tools, and have the technical scheme that the manipulator comprises the following components: a fixed mount; the feeding mechanism comprises a rotatable material tray; the material taking claw is used for grabbing materials on the material tray; the translation mechanism is used for driving the material taking claw to translate on the fixed frame; the lifting mechanism is used for driving the material taking claw to lift and move; the feeding device comprises a translation mechanism, a lifting mechanism, a material taking claw and a fixing frame, wherein the translation mechanism is arranged on the fixing frame and is in sliding connection with the fixing frame, the lifting mechanism is arranged on the translation mechanism, and the material taking claw is arranged on the lifting mechanism.)

1. A manipulator, its characterized in that: the method comprises the following steps:

a fixed frame (1);

the feeding mechanism comprises a rotatable material tray (2);

the material taking claw is used for grabbing materials on the material tray (2);

the translation mechanism is used for driving the material taking claw to translate on the fixed frame (1);

the lifting mechanism is used for driving the material taking claw to lift and move;

the feeding device comprises a fixed frame (1), a translation mechanism, a lifting mechanism and a material taking claw, wherein the translation mechanism is arranged on the fixed frame (1) and is in sliding connection with the fixed frame (1), the lifting mechanism is arranged on the translation mechanism, and the material taking claw is arranged on the lifting mechanism;

the material taking claw comprises a rotary cylinder (21), a first cylinder clamping jaw (22) and a second cylinder clamping jaw (23), wherein the rotary cylinder (21) is obliquely arranged at the bottom end of the lifting mechanism, the first cylinder clamping jaw (22) and the second cylinder clamping jaw (23) are arranged at 90-degree included angles, and the first cylinder clamping jaw (22) and the second cylinder clamping jaw (23) are jointly arranged at the rotating end of the rotary cylinder (21).

2. A manipulator according to claim 1, wherein: the feed mechanism still includes: a first drive motor (3);

the first synchronous belt wheel (4), the first synchronous belt wheel (4) is installed on the driving shaft of the first driving motor (3);

the second synchronous belt (9) wheel (5), the second synchronous belt (9) wheel (5) and the material tray (2) are coaxially and fixedly arranged;

wherein, the first synchronous belt wheel (4) and the second synchronous belt (9) wheel (5) are driven by a first synchronous belt.

3. A manipulator according to claim 1, wherein: the translation mechanism includes:

the translation sliding seat (6) is connected with the fixed frame (1) in a sliding way;

a driving timing pulley (7);

the driven synchronous pulley (8), the driven synchronous pulley (8) and the driving synchronous pulley (7) are driven by a second synchronous belt (9);

the second driving motor is used for driving the driving synchronous belt wheel (7) to rotate;

wherein, translation slide (6) and second hold-in range (9) fixed connection, and be equipped with guide rail (10) on mount (1), be equipped with on translation slide (6) with guide rail (10) sliding connection's spout.

4. A manipulator according to claim 3, wherein: be equipped with the tensioning assembly who is connected with second hold-in range (9) in translation slide (6), tensioning assembly includes:

the bracket (11) is fixed inside the translation sliding seat (6);

two secondary tensioning wheels (12) fixedly arranged on two ends of the bracket (11);

a main tension wheel (13) positioned between the two secondary tension wheels (12);

an adjusting frame (14) for maintaining the tight wheel (13) fixed at the bottom end of the adjusting frame (14);

the threaded rod (15) is positioned at the top end of the adjusting seat;

an adjusting nut (16) in threaded connection with the threaded rod (15);

wherein, the adjusting bracket (14) runs through the bracket (11) and is arranged, the threaded rod (15) runs through the top of the sliding seat, and the adjusting nut (16) is positioned at the outer side of the top of the sliding seat.

5. A manipulator according to claim 1, wherein: the lifting mechanism comprises:

the lifting guide rod (17) is arranged on the translation sliding seat (6) in a vertically sliding manner;

a rack (18) mounted on one side of the lifting guide rod (17);

a gear (19) engaged with the rack (18);

the third driving motor (20) is arranged on the translation sliding seat (6);

wherein the gear (19) is mounted on the drive shaft of the third drive motor (20).

6. A manipulator according to claim 1, wherein: and a plurality of material grooves (24) which are arranged in an annular array are arranged on the material tray (2).

7. A control method applied to a robot hand according to any one of claims 1 to 6, characterized by: the method comprises the following steps:

firstly, the translation mechanism drives the material taking claw to move to the upper part of the material tray (2);

secondly, the lifting mechanism drives the material taking claw to descend and grab the workpiece to be processed through a first cylinder clamping jaw (22);

thirdly, the lifting mechanism drives the material taking claw to ascend, and the material taking claw is driven to move to the upper part of the machine tool through the translation mechanism;

fourthly, the lifting mechanism drives the material taking claw to descend, and then the finished workpiece is grabbed through fine adjustment of the translation mechanism and a second cylinder clamping jaw (23);

fifthly, rotating the rotating end of the rotating cylinder (21) for 180 degrees, and then sending the workpiece to be processed into a clamp of the machine tool through fine adjustment of the translation mechanism and the first cylinder clamping jaw (22);

and sixthly, driving the material taking claw to ascend and reset by the translation mechanism and the lifting mechanism, moving the material taking claw to the position above the material tray (2) again, and before moving the material taking claw to the position above the material tray (2), enabling the finished workpiece to fall into a discharging frame in front of the material tray (2) by the aid of the second cylinder clamping claw (23), and then grabbing the workpiece to be processed again by the second cylinder clamping claw (23) in a circulating reciprocating mode.

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to a manipulator and a control method thereof.

Background

The traditional machine tool is manually fed and discharged, so that the labor cost is high, the machining efficiency is low, and aiming at the problems, the traditional machine tool is transformed, and automatic feeding and discharging are realized in an external translation type manipulator mode; but the material mode is mostly got to current manipulator: the material tray can only move back and forth, the material taking claw on the manipulator can only move left and right in a horizontal movement and lifting movement, and the manipulator is usually controlled by a control program, but in the existing material taking mode, when secondary material taking is carried out, the position of a workpiece on the material tray is changed, so that the position needs to be recalculated by the control program, and the material grabbing at different positions is realized, and the manipulator has the advantages of complex program, high cost and unsuitability for the transformation of old machine tools; thus, an improvement is made to this problem.

Disclosure of Invention

The invention aims to provide a manipulator and a control method thereof, which have the characteristics of simple structure and low cost and are suitable for the reconstruction of old machine tools.

The purpose of the invention is realized as follows: a manipulator, comprising:

a fixed mount;

the feeding mechanism comprises a rotatable material tray;

the material taking claw is used for grabbing materials on the material tray;

the translation mechanism is used for driving the material taking claw to translate on the fixed frame;

the lifting mechanism is used for driving the material taking claw to lift and move;

the material taking device comprises a translation mechanism, a lifting mechanism, a material taking claw and a fixing frame, wherein the translation mechanism is arranged on the fixing frame and is in sliding connection with the fixing frame, the lifting mechanism is arranged on the translation mechanism, and the material taking claw is arranged on the lifting mechanism.

Further: the feed mechanism still includes: a first drive motor;

the first synchronous belt wheel is arranged on a driving shaft of the first driving motor;

the second synchronous belt wheel is coaxially and fixedly arranged with the material tray;

wherein, the first synchronous pulley and the second synchronous pulley are driven by a first synchronous belt.

Further: the translation mechanism includes:

the translation sliding seat is connected with the fixed frame in a sliding way;

a driving synchronous pulley;

the driven synchronous pulley is in transmission with the driving synchronous pulley through a second synchronous belt;

the second driving motor is used for driving the driving synchronous belt pulley to rotate;

the translation sliding seat is fixedly connected with the second synchronous belt, the fixed frame is provided with a guide rail, and the translation sliding seat is provided with a sliding groove in sliding connection with the guide rail.

Further: be equipped with the tensioning subassembly of being connected with the second hold-in range in the translation slide, tensioning subassembly includes:

the bracket is fixed inside the translation sliding seat;

the two auxiliary tensioning wheels are fixedly arranged at the two ends of the bracket;

the tension wheel is located between the two secondary tension wheels;

the adjusting frame is used for fixing the tightening wheel at the bottom end of the adjusting frame;

the threaded rod is positioned at the top end of the adjusting seat;

the adjusting nut is in threaded connection with the threaded rod;

wherein, the alignment jig runs through the support setting, and the threaded rod runs through the top of slide, and adjusting nut is located the outside at slide top.

Further: the lifting mechanism comprises:

the lifting guide rod is arranged on the translation sliding seat in a vertically sliding manner;

the rack is arranged on one side of the lifting guide rod;

the gear is meshed with the rack;

the third driving motor is arranged on the translation sliding seat;

wherein the gear is mounted on a drive shaft of the third drive motor.

Further: the manipulator includes:

the rotating cylinder is obliquely arranged at the bottom end of the lifting guide rod;

a first cylinder clamp jaw;

a second cylinder jaw;

wherein, first cylinder clamping jaw and second cylinder clamping jaw are 90 contained angles and set up, and first cylinder clamping jaw and second cylinder clamping jaw set up jointly on revolving cylinder's rotation end.

Further: and a plurality of material grooves arranged in an annular array are arranged on the material plate.

A control method of a manipulator includes the steps of:

firstly, the translation mechanism drives the material taking claw to move to the upper part of the material tray;

secondly, the lifting mechanism drives the material taking claw to descend and grab the workpiece to be processed through the first cylinder clamping jaw;

thirdly, the lifting mechanism drives the material taking claw to ascend, and the material taking claw is driven to move to the upper part of the machine tool through the translation mechanism;

fourthly, the lifting mechanism drives the material taking claw to descend, and then the finished workpiece is grabbed through fine adjustment of the translation mechanism and the second cylinder clamping jaw;

fifthly, rotating the rotating end of the rotating cylinder for 180 degrees, and then sending the workpiece to be processed into a clamp of the machine tool through fine adjustment of the translation mechanism and the clamping jaw of the first cylinder;

and finally, the material taking claw is driven by the translation mechanism and the lifting mechanism to ascend and reset, the material taking claw is moved to the position above the material tray again, and before the material taking claw is moved to the position above the material tray, the second cylinder clamping claw clamps the finished workpiece, so that the finished workpiece falls into a blanking frame in front of the material tray, and then the workpiece to be machined is grabbed again by the second cylinder clamping claw and is cyclically reciprocated.

By adopting the technical scheme, automatic feeding and discharging operation can be realized, the feeding mode of the rotary material disc is adopted, the material taking claw only needs to carry out fixed-point material taking, the steps are simplified, the cost is lower, and the rotary material disc feeding device is suitable for the transformation of old machine tools.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a cross-sectional structural schematic view of the translating carriage of the present invention;

FIG. 3 is a schematic view of the construction of the tension assembly of the present invention;

FIG. 4 is a schematic view of the structure of the tray of the present invention;

the reference numbers in the figures are: 1. a fixed mount; 2. a material tray; 3. a first drive motor; 4. a first timing pulley; 5. a second timing pulley; 6. a translation slide; 7. a driving synchronous pulley; 8. a driven synchronous pulley; 9. a second synchronous belt; 10. a guide rail; 11. a support; 12. an auxiliary tension wheel; 13. maintaining a tight wheel; 14. an adjusting bracket; 15. a threaded rod; 16. adjusting the nut; 17. a lifting guide rod; 18. a rack; 19. a gear; 20. a third drive motor; 21. a rotating cylinder; 22. a first cylinder clamp jaw; 23. a second cylinder jaw; 24. a trough.

Detailed Description

The invention is further described in the following with specific embodiments in conjunction with the accompanying drawings, see fig. 1-4:

a manipulator comprises

A fixed frame 1;

the feeding mechanism comprises a rotatable material tray 2;

the material taking claw is used for grabbing materials on the material tray 2;

the translation mechanism is used for driving the material taking claw to translate on the fixed frame 1;

the lifting mechanism is used for driving the material taking claw to lift and move;

wherein, translation mechanism installs on mount 1 and with mount 1 sliding connection, elevating system installs on translation mechanism, gets the material claw and installs on elevating system.

Can realize the lift and translation motion of claw of getting material, in this structure, rotatable mode is chooseed for use to charging tray 2 for when the claw of getting material is grabbing the material, charging tray 2 can drive the work piece and rotate to appointed position, and the claw of getting material only need carry out the fixed point and grab the material, and the control procedure of manipulator can simplify greatly, and the cost descends.

The feed mechanism still includes: a first drive motor 3;

a first synchronous pulley 4, the first synchronous pulley 4 being mounted on a driving shaft of the first driving motor 3;

a second synchronous belt 9 wheel 5, wherein the second synchronous belt 9 wheel 5 and the material tray 2 are coaxially and fixedly arranged;

wherein, the first synchronous belt pulley 4 and the second synchronous belt 9 are driven by the first synchronous belt 5.

Second hold-in range 9 wheel 5 and charging tray 2 are installed in same pivot, and through the transmission mode of hold-in range, can be according to the diameter size of selecting two synchronous pulley, adjust drive ratio, consequently no longer need additionally set up gear motor on the first driving motor 3, can reduce cost.

The translation mechanism includes:

the translation sliding seat 6 is connected with the fixed frame 1 in a sliding way;

a driving synchronous pulley 7;

the driven synchronous pulley 8 is driven between the driven synchronous pulley 8 and the driving synchronous pulley 7 through a second synchronous belt 9;

a second drive motor for driving the rotation of the driving timing pulley 7;

wherein, translation slide 6 and second hold-in range 9 fixed connection, and be equipped with guide rail 10 on the mount 1, be equipped with the spout with guide rail 10 sliding connection on the translation slide 6.

Through the transmission of second hold-in range 9, can drive translation slide 6 and slide on mount 1, and through the drive mode of hold-in range, compare 19 transmission of traditional gear, the cost is lower.

Be equipped with the tensioning assembly who is connected with second hold-in range 9 in the translation slide 6, tensioning assembly includes:

the bracket 11 is fixed inside the translation sliding seat 6;

two secondary tension pulleys 12 fixedly mounted on both ends of the bracket 11;

a main tension wheel 13 positioned between the two secondary tension wheels 12;

an adjusting frame 14, wherein the tightening wheel 13 is fixed at the bottom end of the adjusting frame 14;

the threaded rod 15 is positioned at the top end of the adjusting seat;

an adjusting nut 16 in threaded connection with the threaded rod 15;

wherein the adjusting bracket 14 is arranged through the bracket 11, the threaded rod 15 is arranged through the top of the sliding seat, and the adjusting nut 16 is arranged at the outer side of the top of the sliding seat.

The support 11 and the inner wall of the translation sliding seat 6 can be welded and fixed, the tensioning assembly is connected with the synchronous belt, the auxiliary tensioning wheel 12 is located on the outer side of the second synchronous belt 9, the tension wheel 13 is located on the inner side of the second synchronous belt 9, the auxiliary tensioning wheel 12 and the tension wheel 13 are fixedly mounted and cannot rotate independently, the second synchronous belt 9 can drive the translation sliding seat 6 to slide, the tension of the second synchronous belt 9 can be adjusted through the tensioning assembly, and the influence on the transmission precision due to the looseness of the second synchronous belt 9 is avoided;

the principle is as follows: when screwing adjusting nut 16, because the alignment jig 14 is spacing by support 11 circumference, alignment jig 14 can only realize elevating movement, consequently advocate tight pulley 13 and can realize going up and down, when advocate tight pulley 13 rise, can realize the effect of tensioning to second hold-in range 9, avoid second hold-in range 9 not hard up to cause the not high problem of translation slide 6 slip precision.

The lifting mechanism comprises:

the lifting guide rod 17 is arranged on the translation sliding seat 6 in a vertically sliding manner;

a rack 18 installed at one side of the elevation guide bar 17;

a gear 19 engaged with the rack 18;

a third drive motor 20 mounted on the translation slide 6;

wherein the gear 19 is mounted on the drive shaft of the third drive motor 20.

The translation sliding seat 6 is provided with a guide sleeve, the lifting guide rod 17 can slide up and down relative to the guide sleeve, the gear 19 is driven to rotate through the third driving motor 20, the rack 18 is driven to lift, and then the lifting guide rod 17 is driven through the rack 18 to lift.

The manipulator includes:

a rotating cylinder 21 installed at the bottom end of the elevation guide bar 17 in an inclined manner;

a first cylinder jaw 22;

a second cylinder jaw 23;

wherein, first cylinder clamping jaw 22 and second cylinder clamping jaw 23 are 90 contained angles and set up, and first cylinder clamping jaw 22 and second cylinder clamping jaw 23 set up on the rotation end of revolving cylinder 21 jointly.

Because when grabbing the material on charging tray 2, need snatch by the up-and-down motion, and the work piece that has already been processed on grabbing the lathe anchor clamps needs the side-to-side motion to snatch, consequently has set up two cylinder clamping jaws that are 90 contained angles, and can rotate the replacement, convenient unloading of going up.

The material tray 2 is provided with a plurality of material troughs 24 which are arranged in an annular array, the material troughs 21 are used for placing workpieces to be processed, and the workpieces to be processed can be rotated by a certain angle to move to a specified position after one material is taken.

A control method of a manipulator includes the steps of:

firstly, the translation mechanism drives the material taking claw to move to the upper part of the material tray 2;

secondly, the lifting mechanism drives the material taking claw to descend and grab the workpiece to be processed through the first cylinder clamping jaw 22;

thirdly, the lifting mechanism drives the material taking claw to ascend, and the material taking claw is driven to move to the upper part of the machine tool through the translation mechanism;

fourthly, the lifting mechanism drives the material taking claw to descend, and then the finished workpiece is grabbed through fine adjustment of the translation mechanism and the second cylinder clamping jaw 23;

fifthly, rotating the rotating end of the rotating cylinder 21 for 180 degrees, and then sending the workpiece to be processed into a clamp of the machine tool through fine adjustment of the translation mechanism and the first cylinder clamping jaw 22;

and finally, the material taking claw is driven by the translation mechanism and the lifting mechanism to ascend and reset, the material taking claw is moved to the position above the material tray 2 again, and before the material taking claw is moved to the position above the material tray 2, the second cylinder clamping jaw 23 is used for producing a finished workpiece, so that the finished workpiece falls into the blanking frame in front of the material tray 2, and then the workpiece to be machined is grabbed again by the second cylinder clamping jaw 23 and is circulated and reciprocated.

In the feeding process, the material taking claw only needs to take materials at fixed points, the control program does not need to calculate the material taking position any more, the control steps are simplified, and the applicability is good.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.