阅读说明：本技术 一种四轴联动机器人操控技术及控制方法 (Four-axis linkage robot control technology and control method ) 是由 程小龙 常耀方 于 2020-12-06 设计创作，主要内容包括：本发明公开了一种四轴联动机器人操控技术及控制方法,包括工作台、传动齿轮、连接块、固定块、第一传动带、第二传动带和第二锥形齿轮,所述工作台的下表面螺栓固定有伺服电机,且伺服电机的输出端焊接固定有传动齿轮,所述连接杆的外表面设置有连接块,且连接块的前表面开设有限位槽,所述工作台的上表面左侧焊接固定有放置台,且放置台的上表面设置有工件,所述连接块的上表面焊接固定有固定杆。该四轴联动机器人操控技术及控制方法在进行使用的过程中,整个装置只需通过伺服电机的转动来完成四轴联动,进而使整个装置的结构更为简单,造价成本低,同时也减轻了整个装置的重量,相对的降低了工件的加工成本。(The invention discloses a four-axis linkage robot control technology and a control method, and the four-axis linkage robot control technology comprises a workbench, a transmission gear, a connecting block, a fixing block, a first transmission belt, a second transmission belt and a second bevel gear, wherein a servo motor is fixed on the lower surface of the workbench through a bolt, the transmission gear is fixedly welded on the output end of the servo motor, the connecting block is arranged on the outer surface of the connecting rod, a limiting groove is formed in the front surface of the connecting block, a placing table is fixedly welded on the left side of the upper surface of the workbench, a workpiece is arranged on the upper surface of the placing table, and a fixing rod is fixedly welded on the upper surface of the. In the using process of the four-axis linkage robot control technology and the control method, the whole device only needs to complete four-axis linkage through the rotation of the servo motor, so that the structure of the whole device is simpler, the manufacturing cost is low, the weight of the whole device is reduced, and the processing cost of workpieces is relatively reduced.)

1. The utility model provides a four-axis linkage robot, includes workstation (1), drive gear (3), connecting block (5), fixed block (503), first drive belt (13), second drive belt (18) and second bevel gear (22), its characterized in that: the lower surface of the workbench (1) is fixed with a servo motor (2) through a bolt, the output end of the servo motor (2) is fixedly welded with a transmission gear (3), the inner upper surface of the workbench (1) is fixedly welded with a connecting rod (4), the outer surface of the connecting rod (4) is provided with a connecting block (5), the front surface of the connecting block (5) is provided with a limiting groove (6), the left side of the upper surface of the workbench (1) is fixedly welded with a placing table (7), the upper surface of the placing table (7) is provided with a workpiece (8), the upper surface of the connecting block (5) is fixedly welded with a fixing rod (9), the inner part of the fixing rod (9) is provided with a second spring (10), the tail end of the second spring (10) is fixedly welded with a clamping block (11), and the outer surface of the clamping block (11) is fixedly welded with a driving block (, the output laminating of servo motor (2) is provided with first drive belt (13), the upper surface right side welded fastening of workstation (1) has processing platform (14), and the upper surface welded fastening of processing platform (14) has bearing block (15) to the left side welded fastening of processing platform (14) has stopper rod (16), the last rotate surface of workstation (1) is connected with drive gear (17), and the surface laminating of drive gear (17) is provided with second drive belt (18), and the internal rotation of workstation (1) is connected with dwang (19), the internal rotation of workstation (1) is connected with links up pole (20), and the surface welded fastening of linking pole (20) has first conical gear (21) to the surface meshing of first conical gear (21) is connected with second conical gear (22).

2. The four-axis linkage robot as claimed in claim 1, wherein: holding tank (501) have been seted up to the inside of connecting block (5), and the inside welded fastening of holding tank (501) has first spring (502) to the surface welded fastening of connecting block (5) has fixed block (503).

3. The four-axis linkage robot as claimed in claim 2, wherein: the first spring (502) and the connecting rod (4) form a rotating structure, the connecting rod (4) and the connecting block (5) form a sliding structure, and the connecting rod (4) is T-shaped in appearance.

4. The four-axis linkage robot as claimed in claim 2, wherein: the fixed block (503) is connected with the transmission gear (3) in a meshing manner, and the tooth blocks on the outer surfaces of the fixed block (503) and the transmission gear (3) are inclined.

5. The four-axis linkage robot as claimed in claim 1, wherein: the limiting groove (6) is U-shaped, and the limiting groove (6) and the limiting rod (16) form a sliding structure.

6. The four-axis linkage robot as claimed in claim 1, wherein: the clamping blocks (11) are arranged in a central symmetry mode about the tail end of the fixing rod (9), and the 2 groups of clamping blocks (11) form an elastic structure through second springs (10).

7. The four-axis linkage robot as claimed in claim 6, wherein: the driving block (12) is connected with the driving gear (17) in a meshed mode, the driving gear (17) forms a transmission structure with the rotating rod (19) through a second transmission belt (18), and the driving gear (17) corresponds to the driving block (12) one to one.

8. The four-axis linkage robot as claimed in claim 1, wherein: the connecting rod (20) forms a transmission structure with the servo motor (2) and the rotating rod (19) through a first transmission belt (13), a first bevel gear (21) and a second bevel gear (22), the connecting mode between the second bevel gear (22) and the rotating rod (19) is welding, and the rotating rod (19) is in central symmetry distribution about the vertical central axis of the connecting rod (20).

9. The use method of the four-axis linkage robot as claimed in claim 1, comprising the steps of:

s1: the workpiece (8) is manually placed by a worker or is conveyed to a placing table (7) through an external conveying belt, and the servo motor (2) is turned on;

s2: the servo motor (2) drives the transmission gear (3) to rotate, so that the fixing block (503) drives the connecting block (5) to rotate, and then the inverted U-shaped limiting groove (6) enables the connecting block (5) to move downwards, horizontally rotate and move downwards under the limiting action of the limiting rod (16), so that the steps of picking up, steering and putting down a workpiece (8) can be completed;

s3: when the connecting block (5) moves downwards, the connecting block (5) moves downwards on the connecting rod (4), so that the first spring (502) is compressed and deformed, and meanwhile, the clamping block (11) moves back and forth under the blocking of the workpiece (8) through the second spring (10), so that the workpiece (8) is clamped;

s4: under the actions of reverse rotation of the servo motor (2), limiting of the limiting rod (16), extrusion of the fixing block (503) by the transmission gear (3) and restoration of deformation of the first spring (502), the horizontal section of the limiting groove (6) is in contact with the limiting rod (16), so that the connecting block (5) horizontally rotates, and the fixing rod (9) rotates 180 degrees;

s5: after the fixed rod (9) rotates for 180 degrees, the right vertical section of the limiting groove (6) is contacted with the limiting rod (16), so that the connecting block (5) moves downwards;

s6: under the transmission of a first transmission belt (13), a connecting rod (20) is rotated, a first bevel gear (21) and a second bevel gear (22) drive a rotating rod (19) to rotate, and simultaneously, under the transmission of a second transmission belt (18), a driving gear (17) is rotated, so that a driving block (12) drives a clamping block (11) to move, a workpiece (8) is placed on a processing table (14), and then an external hydraulic device is used for bending the workpiece (8).

Technical Field

The invention relates to the technical field of workpiece pressing, in particular to a four-axis linkage robot control technology and a control method.

Background

In the process of machining workpieces, hydraulic bending is needed for some workpieces, and meanwhile, in order to improve the machining efficiency of the workpieces, people machine the workpieces through a machining center, wherein the machining center classifies robots according to different axes of robot linkage through intelligent robots, such as a four-axis linkage robot;

the four-axis linkage robot in the existing market completes four-axis linkage of the robot through the driving devices such as the automatic telescopic rod, the hydraulic rod and the servo motor and the connecting structure, so that the manufacturing cost of the whole robot is increased, and meanwhile, the total weight of the whole robot is also increased.

Therefore, a four-axis linkage robot control technique and a control method are proposed to solve the above problems.

Disclosure of Invention

The invention aims to provide a four-axis linkage robot control technology and a control method, which aim to solve the problems that the four-axis linkage robot in the prior market proposed by the background technology finishes four-axis linkage of the robot through a driving device such as an automatic telescopic rod, a hydraulic rod, a servo motor and the like and a connecting structure, so that the manufacturing cost of the whole device is increased, the total weight of the whole robot is increased, and the mechanism of the whole device is more complex due to the precision of the automatic telescopic rod, the hydraulic rod and the servo motor, so that the maintenance and construction costs of the whole device are increased, and the manufacturing cost of workpieces is also increased.

In order to achieve the purpose, the invention provides the following technical scheme: a four-axis linkage robot comprises a workbench, a transmission gear, a connecting block, a fixing block, a first transmission belt, a second transmission belt and a second bevel gear, wherein a servo motor is fixed on the lower surface of the workbench through a bolt, the output end of the servo motor is fixedly welded with the transmission gear, a connecting rod is fixedly welded on the inner upper surface of the workbench, the outer surface of the connecting rod is provided with the connecting block, a limiting groove is formed in the front surface of the connecting block, a placing table is fixedly welded on the left side of the upper surface of the workbench, a workpiece is arranged on the upper surface of the placing table, a fixing rod is fixedly welded on the upper surface of the connecting block, a second spring is arranged inside the fixing rod, the tail end of the second spring is fixedly welded with a clamping block, a driving block is fixedly welded on the outer surface of the clamping block, the output end of the servo motor is attached, the upper surface right side welded fastening of workstation has the processing platform, and the upper surface welded fastening of processing platform has the piece that holds to the left side welded fastening of processing platform has the gag lever post, the upper surface of workstation rotates and is connected with drive gear, and drive gear's surface laminating is provided with the second drive belt to the internal rotation of workstation is connected with the dwang, the internal rotation of workstation is connected with the pole that links up, and the surface welded fastening of linking up the pole has first conical gear, and the surface meshing of first conical gear is connected with second conical gear.

Preferably, the holding tank has been seted up to the inside of connecting block, and the inside welded fastening of holding tank has first spring to the surface welded fastening of connecting block has the fixed block.

Preferably, the first spring and the connecting rod form a rotating structure, the connecting rod and the connecting block form a sliding structure, and the connecting rod is T-shaped in appearance.

Preferably, the fixed block is connected with the transmission gear in a meshing manner, and the tooth blocks on the outer surfaces of the fixed block and the transmission gear are inclined.

Preferably, the limiting groove is U-shaped, and the limiting groove and the limiting rod form a sliding structure.

Preferably, the clamping blocks are arranged in two groups in a central symmetry manner relative to the tail end of the fixing rod, and the 2 groups of clamping blocks form an elastic structure through a second spring.

Preferably, the driving block is connected with the driving gear in a meshing manner, the driving gear and the rotating rod form a transmission structure through a second transmission belt, and the driving gear and the driving block correspond to each other one by one.

Preferably, the connecting rod forms a transmission structure with the servo motor and the rotating rod through a first transmission belt, a first bevel gear and a second bevel gear respectively, the second bevel gear is connected with the rotating rod in a welding mode, and the rotating rod is distributed in a central symmetry mode about the vertical central axis of the connecting rod.

The invention provides another technical scheme for providing a using method of a four-axis linkage robot, which comprises the following steps:

s1: the method comprises the following steps of (1) manually placing a workpiece by a worker or conveying the workpiece to a placing table through an external conveying belt, and turning on a servo motor;

s2: the servo motor drives the transmission gear to rotate, so that the fixed block drives the connecting block to rotate, and then the inverted U-shaped limiting groove enables the connecting block to move downwards, horizontally rotate and move downwards under the limiting action of the limiting rod, and the steps of picking up, steering and putting down a workpiece can be completed;

s3: when the connecting block moves downwards, the connecting block moves downwards on the connecting rod, so that the first spring is compressed and deformed, and meanwhile, the clamping block moves back and forth under the blocking of a workpiece through the second spring, so that the workpiece is clamped;

s4: under the actions of the reverse rotation of the servo motor, the limiting of the limiting rod, the extrusion of the fixed block by the transmission gear and the recovery of the deformation of the first spring, the horizontal section of the limiting groove is contacted with the limiting rod, so that the connecting block horizontally rotates, and the fixed rod further rotates for 180 degrees;

s5: after the fixed rod rotates 180 degrees, the right vertical section of the limiting groove is contacted with the limiting rod, so that the connecting block moves downwards;

s6: under the transmission of first drive belt, make the joint pole rotate, and then make first conical gear, second conical gear drive the dwang and rotate, simultaneously under the transmission of second drive belt, make drive gear rotate to make the drive block drive the grip block motion, and then place the work piece on the processing platform, use external hydraulic means to buckle the operation to the work piece after that.

Compared with the prior art, the invention has the beneficial effects that:

through the transmission of fixed block, drive gear, first drive belt, second drive belt and first conical gear and second conical gear, make the connecting block, servo motor, dwang and connection pole four-axis constitution linkage structure, spacing through the spacing groove of gag lever post simultaneously, make the connecting rod can descend, rotate, the motion that descends, then make whole device can pick up and put down the work piece automatically, and can make the grip block carry out automatic centre gripping to the work piece through first spring, can make the grip block place the processing bench with the work piece automatically through drive gear and drive block, then make whole device only need to accomplish the four-axis linkage through servo motor's rotation, and then make the structure of whole device more simple, the cost is with low costs, the weight of whole device has also been alleviateed simultaneously, the relative processing cost that has reduced the work piece.

Drawings

FIG. 1 is a schematic main sectional view of the present invention;

FIG. 2 is a schematic view of a workpiece placement configuration of the present invention;

FIG. 3 is a schematic cross-sectional view of a connecting block according to the present invention;

FIG. 4 is a left sectional structural view of the clamping block of the present invention;

FIG. 5 is a schematic view of the structure of FIG. 1 at B according to the present invention;

FIG. 6 is a schematic view of the structure at A in FIG. 2 according to the present invention.

In the figure: 1. a work table; 2. a servo motor; 3. a transmission gear; 4. a connecting rod; 5. connecting blocks; 501. accommodating grooves; 502. a first spring; 503. a fixed block; 6. a limiting groove; 7. a placing table; 8. a workpiece; 9. fixing the rod; 10. a second spring; 11. a clamping block; 12. a drive block; 13. a first drive belt; 14. a processing table; 15. a bearing block; 16. a limiting rod; 17. a drive gear; 18. a second belt; 19. rotating the rod; 20. a connecting rod; 21. a first bevel gear; 22. a second bevel gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: a four-axis linkage robot comprises a workbench 1, a servo motor 2, a transmission gear 3, a connecting rod 4, a connecting block 5, an accommodating groove 501, a first spring 502, a fixing block 503, a limiting groove 6, a placing table 7, a workpiece 8, a fixing rod 9, a second spring 10, a clamping block 11, a driving block 12, a first transmission belt 13, a processing table 14, a bearing block 15, a limiting rod 16, a driving gear 17, a second transmission belt 18, a rotating rod 19, a connecting rod 20, a first bevel gear 21 and a second bevel gear 22, wherein the servo motor 2 is fixed on the lower surface of the workbench 1 through bolts, the transmission gear 3 is fixed on the output end of the servo motor 2 through welding, the connecting rod 4 is fixed on the inner upper surface of the workbench 1 through welding, the connecting block 5 is arranged on the outer surface of the connecting rod 4, the limiting groove 6 is formed in the front surface of the connecting block 5, the placing table 7 is fixed on the left side, a workpiece 8 is arranged on the upper surface of the placing table 7, a fixed rod 9 is fixedly welded on the upper surface of the connecting block 5, a second spring 10 is arranged inside the fixed rod 9, a clamping block 11 is fixedly welded on the tail end of the second spring 10, a driving block 12 is fixedly welded on the outer surface of the clamping block 11, a first transmission belt 13 is arranged on the output end of the servo motor 2 in a fitting manner, a processing table 14 is fixedly welded on the right side of the upper surface of the working table 1, a bearing block 15 is fixedly welded on the upper surface of the processing table 14, a limiting rod 16 is fixedly welded on the left side surface of the processing table 14, a driving gear 17 is rotatably connected on the upper surface of the working table 1, a second transmission belt 18 is arranged on the outer surface of the driving gear 17 in a fitting manner, a rotating rod 19 is rotatably connected inside the working table 1, a connecting rod 20 is rotatably connected inside the working table 1, and a first bevel gear 21, and a second bevel gear 22 is engaged with an outer surface of the first bevel gear 21.

Holding tank 501 has been seted up to connecting block 5's inside, and the inside welded fastening of holding tank 501 has first spring 502 to the surface welded fastening of connecting block 5 has fixed block 503.

The first spring 502 and the connecting rod 4 form a rotating structure, the connecting rod 4 and the connecting block 5 form a sliding structure, and the connecting rod 4 is in a T shape.

The fixed block 503 is connected with the transmission gear 3 in a meshing manner, and the fixed block 503 and the tooth blocks on the outer surface of the transmission gear 3 are both inclined.

The limiting groove 6 is U-shaped, and the limiting groove 6 and the limiting rod 16 form a sliding structure.

Two groups of clamping blocks 11 are arranged in a central symmetry manner relative to the tail end of the fixing rod 9, and the 2 groups of clamping blocks 11 form an elastic structure through a second spring 10.

The driving block 12 and the driving gear 17 are connected in a meshing manner, the driving gear 17 and the rotating rod 19 form a transmission structure through a second transmission belt 18, and the driving gear 17 and the driving block 12 correspond to each other one by one.

The connecting rod 20 forms a transmission structure with the servo motor 2 and the rotating rod 19 through the first transmission belt 13, the first bevel gear 21 and the second bevel gear 22 respectively, the second bevel gear 22 is connected with the rotating rod 19 in a welding mode, and the rotating rod 19 is distributed in a central symmetry mode about the vertical central axis of the connecting rod 20.

In order to better show a specific using method of the four-axis linkage robot, the using method of the four-axis linkage robot in the embodiment includes the following steps:

the first step is as follows: the workpiece 8 is manually placed by a worker or is conveyed to a placing table 7 through an external conveying belt, and the servo motor 2 is started;

the second step is that: the servo motor 2 drives the transmission gear 3 to rotate, so that the fixing block 503 drives the connecting block 5 to rotate, and then the inverted U-shaped limiting groove 6 enables the connecting block 5 to move downwards, horizontally rotate and move downwards under the limiting action of the limiting rod 16, and the steps of picking up, turning and putting down the workpiece 8 can be completed;

the third step: when the connecting block 5 moves downwards, the connecting block 5 moves downwards on the connecting rod 4, so that the first spring 502 is compressed and deformed, and meanwhile, the clamping block 11 moves back and forth under the blocking of the workpiece 8 through the second spring 10, so that the workpiece 8 is clamped;

the fourth step: under the actions of reverse rotation of the servo motor 2, limiting of the limiting rod 16, extrusion of the fixed block 503 by the transmission gear 3 and recovery of deformation of the first spring 502, the horizontal section of the limiting groove 6 is in contact with the limiting rod 16, so that the connecting block 5 horizontally rotates, and the fixed rod 9 further rotates for 180 degrees;

the fifth step: after the fixed rod 9 rotates 180 degrees, the right vertical section of the limiting groove 6 is contacted with the limiting rod 16, so that the connecting block 5 moves downwards;

and a sixth step: under the transmission of the first transmission belt 13, the connecting rod 20 is rotated, so that the first bevel gear 21 and the second bevel gear 22 drive the rotating rod 19 to rotate, and simultaneously, under the transmission of the second transmission belt 18, the driving gear 17 is rotated, so that the driving block 12 drives the clamping block 11 to move, the workpiece 8 is placed on the processing table 14, and then the workpiece 8 is bent by using an external hydraulic device.

The working principle of the embodiment is as follows: when the four-axis linkage robot control technology and the control method are used, firstly, a workpiece 8 is manually placed by a worker or is conveyed to a placing table 7 through an external transmission belt, a servo motor 2 is opened, the servo motor 2 drives a transmission gear 3 to rotate, so that a fixing block 503 drives a connecting block 5 to rotate, then an inverted U-shaped limiting groove 6 enables the connecting block 5 to move downwards, horizontally rotate and move downwards under the limiting action of a limiting rod 16, so that the steps of taking up, turning and putting down the workpiece 8 can be completed, when the connecting block 5 moves downwards, the connecting block 5 moves downwards on a connecting rod 4, so that a first spring 502 is subjected to compression deformation, meanwhile, a clamping block 11 moves back and forth under the blocking of the workpiece 8 through a second spring 10, so as to clamp the workpiece 8, and when the servo motor 2 rotates reversely and the limiting rod 16 limits the workpiece, Under the action that the transmission gear 3 extrudes the fixing block 503 and the first spring 502 recovers deformation, the horizontal section of the limiting groove 6 is contacted with the limiting rod 16, so that the connecting block 5 horizontally rotates, and the fixing rod 9 further rotates for 180 degrees;

after the fixed rod 9 rotates 180 degrees, the right vertical section of the limit groove 6 contacts with the limit rod 16, so that the connecting block 5 moves downwards, the connecting rod 20 rotates under the transmission of the first transmission belt 13, the first bevel gear 21 and the second bevel gear 22 drive the rotating rod 19 to rotate, meanwhile, under the transmission of the second transmission belt 18, the driving gear 17 rotates, so that the driving block 12 drives the clamping block 11 to move, the workpiece 8 is placed on the processing table 14, and then the workpiece 8 is bent by using an external hydraulic device (the inclination angle and the length of the fixed block 503 and the inclination angle and the length of the transmission gear 3 can be designed according to the actual situation, the fixed block 503 and the transmission gear 3 in the drawing only play a role in illustration), so that the whole device only needs to complete four-axis linkage through the rotation of the servo motor 2, and further the structure of the whole device is simpler, the manufacturing cost is low, meanwhile, the weight of the whole device is reduced, and the processing cost of the workpiece 8 is relatively reduced, so that a series of work is completed.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.