技术领域technical field
本实用新型涉及工业机器人技术领域，特别涉及一种回转式人与机器人协同作业自动化设备。The utility model relates to the technical field of industrial robots, in particular to a rotary automatic equipment for cooperative operation of man and robot.
背景技术Background technique
目前工业机器人在制造行业的运用越来越普及，它们被大量的使用在装配、冲压、码垛、插件、喷涂、焊接等作业工位，取代人工完成这些高强度、高危险、繁琐的工作任务。目前需要多任务处理工位的产品，自动化设备的机器人集成的难度大，成本高，且不适合当前商品个性化、客户定制化设计多品种小批量的商业模式，换线停工时间长，作业效率低。At present, the use of industrial robots in the manufacturing industry is becoming more and more popular. They are widely used in assembly, stamping, palletizing, plug-in, spraying, welding and other work stations, replacing manual labor to complete these high-intensity, high-risk, and tedious tasks. . At present, for products that require multi-tasking processing stations, the robot integration of automation equipment is difficult and costly, and it is not suitable for the current business model of product personalization and customer-customized design of multiple varieties and small batches. Low.
有鉴于此，特提出本实用新型，以解决上述技术问题。In view of this, the utility model is proposed to solve the above-mentioned technical problems.
实用新型内容Utility model content
针对上述现有技术，本实用新型所要解决的技术问题是提供一种回转式人与机器人协同作业自动化设备，该设备能处理多任务工位的产品，自动化设备的机器人集成的难度小，成本低，且适合当前商品个性化、客户定制化设计多品种小批量的商业模式，换线停工时间短，作业效率高。Aiming at the above-mentioned prior art, the technical problem to be solved by this utility model is to provide a rotary automatic equipment for man-robot collaborative operation, which can handle the products of multi-task stations, and the robot integration of the automation equipment is less difficult and cost-effective , and is suitable for the current business model of product personalization and customer-customized design of multiple varieties and small batches, short downtime for line change and high operating efficiency.
为了解决上述技术问题，本实用新型提供了一种回转式人与机器人协同作业自动化设备，其包括工作台、转盘、机器人、送料机构、转盘驱动机构，所述转盘设有两个以上工位且中心为通孔，所述转盘安装于转盘驱动机构上，所述转盘驱动机构安装于工作台，所述转盘的一个工位为人工作业工位，所述转盘的其他工位都设有送料机构，所述机器人穿过转盘的通孔安装于工作台上;所述机器人从送料机构中取料进行转盘的其他工位作业，所述转盘驱动机构驱动转盘按工位依次旋转，人工在转盘的一个工位进行作业。In order to solve the above-mentioned technical problems, the utility model provides a rotary automatic equipment for cooperative operation of man and robot, which includes a workbench, a turntable, a robot, a feeding mechanism, and a turntable drive mechanism. The turntable is provided with more than two stations and The center is a through hole, the turntable is installed on the turntable drive mechanism, the turntable drive mechanism is installed on the workbench, one station of the turntable is a manual work station, and the other stations of the turntable are equipped with feeding mechanisms , the robot passes through the through hole of the turntable and is installed on the workbench; the robot takes materials from the feeding mechanism to carry out other station operations on the turntable, the turntable drive mechanism drives the turntable to rotate in sequence according to the stations, and the manual work on the turntable One station works.
本实用新型的进一步改进为，所述机器人包括底座、X轴运动装置、Y轴运动装置、Z轴运动装置、两组角度调整装置、两组产品夹取装置，所述X轴运动装置安装于所述底座上，所述Y轴运动装置安装于所述X轴运动装置上，所述Z轴运动装置安装于所述Y轴运动装置前端，两组角度调整装置分别安装于所述Z轴运动装置两侧，两组产品夹取装置分别安装于两组角度调整装置下，所述X轴运动装置实现水平初步定位，所述Y轴运动装置实现水平精确定位，所述Z轴运动装置实现Z轴方向运动精确定位，所述角度调整装置实现角度调整，所述产品夹取装置夹取产品。A further improvement of the utility model is that the robot includes a base, an X-axis motion device, a Y-axis motion device, a Z-axis motion device, two sets of angle adjustment devices, and two sets of product clamping devices, and the X-axis motion device is installed on On the base, the Y-axis motion device is mounted on the X-axis motion device, the Z-axis motion device is mounted on the front end of the Y-axis motion device, and two sets of angle adjustment devices are installed on the Z-axis motion device respectively. On both sides of the device, two sets of product clamping devices are respectively installed under two sets of angle adjustment devices. The X-axis motion device realizes horizontal preliminary positioning, the Y-axis motion device realizes horizontal precise positioning, and the Z-axis motion device realizes Z The movement in the axial direction is precisely positioned, the angle adjustment device realizes angle adjustment, and the product clamping device clamps the product.
本实用新型的进一步改进为，所述X轴运动装置包括第一步进电机、第一减速器、主臂，所述第一步进电机设有第一步进电机输出轴，所述第一步进电机安装于所述底座内，所述第一减速器安装于底座上，所述第一步进电机输出轴与所述第一减速器连接，所述主臂的一端与所述第一减速器连接。A further improvement of the utility model is that the X-axis motion device includes a first stepping motor, a first reducer, and a main arm, and the first stepping motor is provided with a first stepping motor output shaft, and the first The stepping motor is installed in the base, the first reducer is installed on the base, the output shaft of the first stepping motor is connected with the first reducer, and one end of the main arm is connected with the first reducer. Reducer connection.
本实用新型的进一步改进为，所述Y轴运动装置包括第二步进电机、第二减速器、副臂，所述第二步进电机设有第二步进电机输出轴，所述第二步进电机、第二减速器分别安装于所述副臂的一端，所述第二步进电机输出轴与所述第二减速器连接，所述第二减速器与所述主臂的另一端连接。A further improvement of the utility model is that the Y-axis motion device includes a second stepping motor, a second reducer, and an auxiliary arm, the second stepping motor is provided with a second stepping motor output shaft, and the second The stepping motor and the second reducer are respectively installed at one end of the auxiliary arm, the output shaft of the second stepping motor is connected with the second reducer, and the second reducer is connected with the other end of the main arm connect.
本实用新型的进一步改进为，所述Z轴运动装置包括第三步进电机、第三步进电机安装板、第一同步带轮、第二同步带轮、同步带、导轨、滑块、齿条、齿条安装座、销轴，所述第三步进电机设有第三步进电机输出轴，所述第三步进电机安装于所述第三步进电机安装板，所述第三步进电机安装板与所述副臂的另一端固定连接，所述第一同步带轮固定安装于所述第三步进电机输出轴，所述第二同步带轮通过所述销轴与所述第三步进电机安装板转动连接，所述同步带分别与所述第一同步带轮、第二同步带轮传动连接，所述导轨固定安装于所述第三步进电机安装板，所述导轨与所述滑块滑动连接，所述齿条安装于所述齿条安装座，所述齿条安装座与所述滑块固定连接，所述齿条与所述同步带咬合。A further improvement of the utility model is that the Z-axis motion device includes a third stepping motor, a third stepping motor mounting plate, a first synchronous pulley, a second synchronous pulley, a synchronous belt, a guide rail, a slider, a gear rack, rack mounting seat, pin shaft, the third stepping motor is provided with a third stepping motor output shaft, the third stepping motor is installed on the third stepping motor mounting plate, the third stepping motor The stepper motor mounting plate is fixedly connected with the other end of the auxiliary arm, the first synchronous pulley is fixedly installed on the output shaft of the third stepper motor, and the second synchronous pulley is connected to the second synchronous pulley through the pin shaft. The third stepping motor mounting plate is rotationally connected, the synchronous belt is respectively connected to the first synchronous pulley and the second synchronous pulley, and the guide rail is fixedly installed on the third stepping motor mounting plate. The guide rail is slidably connected to the slider, the rack is mounted on the rack installation seat, the rack installation seat is fixedly connected to the slider, and the rack is engaged with the timing belt.
本实用新型的进一步改进为，所述角度调整装置包括第四步进电机、第四步进电机安装板、扭力盘、扭力架，所述第四步进电机设有第四步进电机输出轴，所述第四步进电机安装于所述第四步进电机安装板，所述第四步进电机安装板与所述滑块固定连接，所述扭力盘固定安装于所述第四步进电机输出轴，所述扭力架固定安装于扭力盘。A further improvement of the utility model is that the angle adjustment device includes a fourth stepping motor, a fourth stepping motor mounting plate, a torque plate, and a torque frame, and the fourth stepping motor is provided with a fourth stepping motor output shaft , the fourth stepping motor is installed on the fourth stepping motor mounting plate, the fourth stepping motor mounting plate is fixedly connected with the slider, and the torque disc is fixedly mounted on the fourth stepping motor The output shaft of the motor, and the torque frame is fixedly installed on the torque disc.
本实用新型的进一步改进为，所述产品夹取装置包括手指气缸、第一夹爪、第二夹爪，所述手指气缸设有两气动手指，所述第一夹爪、第二夹爪分别安装于所述两气动手指，所述手指气缸安装于所述扭力架下。A further improvement of the utility model is that the product gripping device includes a finger cylinder, a first jaw, and a second jaw, and the finger cylinder is provided with two pneumatic fingers, and the first jaw and the second jaw are respectively It is installed on the two pneumatic fingers, and the finger cylinder is installed under the torsion frame.
本实用新型的进一步改进为，所述第一减速器、第二减速器都为谐波减速器。A further improvement of the utility model is that both the first speed reducer and the second speed reducer are harmonic speed reducers.
本实用新型的进一步改进为，所述Z轴运动装置还包括缓冲垫块，所述缓冲垫块固定安装于所述第三步进电机安装板上部，用于所述滑块向上运动时的缓冲。A further improvement of the utility model is that the Z-axis moving device further includes a buffer block, and the buffer block is fixedly installed on the upper part of the third stepping motor mounting plate, and is used for buffering when the slider moves upward. .
本实用新型的进一步改进为，所述Z轴运动装置还包括同步带张紧机构，所述同步带张紧机构包括调整块、紧固螺钉、张紧螺钉，所述第三步进电机安装板下部设有调节槽、方形空腔，所述销轴固定安装于所述调整块，所述调整块置于所述方形空腔内并与之松动连接，所述紧固螺钉穿过所述调节槽并与所述调整块螺纹连接，所述张紧螺钉穿过所述第三步进电机安装板底部的通孔与所述调整块螺纹连接。A further improvement of the utility model is that the Z-axis motion device also includes a synchronous belt tensioning mechanism, the synchronous belt tensioning mechanism includes an adjustment block, a fastening screw, and a tensioning screw, and the third stepping motor mounting plate The lower part is provided with an adjustment groove and a square cavity. The pin shaft is fixedly installed on the adjustment block. The adjustment block is placed in the square cavity and is loosely connected with it. The fastening screw passes through the adjustment block. slot and is threaded with the adjustment block, and the tension screw passes through the through hole at the bottom of the third stepping motor mounting plate and is threaded with the adjustment block.
与现有技术相比，本实用新型采用机器人从送料机构中取料进行转盘的其他工位作业，转盘驱动机构驱动转盘按工位依次旋转，人工在转盘的一个工位进行作业,本实用新型实现了人与机器人回转式协同作业。本实用新型能处理多任务工位的产品，自动化设备的机器人集成的难度小，成本低，且适合当前商品个性化、客户定制化设计多品种小批量的商业模式，换线停工时间短，作业效率高。Compared with the prior art, the utility model adopts the robot to take materials from the feeding mechanism to carry out the other station operations of the turntable, the turntable drive mechanism drives the turntable to rotate according to the stations in turn, and manually works at one station of the turntable. Realized the rotary collaborative operation of man and robot. The utility model can handle the products of multi-task stations, the robot integration of the automation equipment is less difficult, the cost is low, and it is suitable for the current business model of product personalization and customer customization design with multiple varieties and small batches, and the downtime for changing lines is short, and the operation efficient.
附图说明Description of drawings
图1是本实用新型的立体图;Fig. 1 is a perspective view of the utility model;
图2是本实用新型的机器人立体图;Fig. 2 is a three-dimensional view of the robot of the present utility model;
图3是本实用新型的X轴运动装置立体图;Fig. 3 is a perspective view of the X-axis motion device of the present invention;
图4是图3的立体展开图;Fig. 4 is a three-dimensional expanded view of Fig. 3;
图5是本实用新型的Y轴运动装置立体图;Fig. 5 is a perspective view of the Y-axis motion device of the present invention;
图6是图5的立体展开图;Fig. 6 is a three-dimensional expanded view of Fig. 5;
图7是本实用新型的Z轴运动装置立体图;Fig. 7 is a perspective view of the Z-axis motion device of the present invention;
图8是本实用新型的第三步进电机安装板立体图;Fig. 8 is a perspective view of a third stepper motor mounting plate of the present invention;
图9是图8的立体展开图;Fig. 9 is a three-dimensional expanded view of Fig. 8;
图10是本实用新型的角度调整装置立体图;Fig. 10 is a perspective view of the angle adjustment device of the present invention;
图11是本实用新型的产品夹取装置立体图;Fig. 11 is a perspective view of the product clamping device of the present invention;
图12是图10的立体展开图;Fig. 12 is a three-dimensional expanded view of Fig. 10;
图13是图11的立体展开图。Fig. 13 is a perspective development view of Fig. 11 .
图中各部件名称如下：The names of the components in the figure are as follows:
1—工作台;1—workbench;
2—转盘;2—turntable;
3—机器人;3 — robot;
31—底座;31 - base;
32—X轴运动装置;32—X-axis motion device;
321—第一步进电机;321—the first stepping motor;
322—第一减速器;322—the first reducer;
323—主臂;323—main arm;
3231—第一角度控制挡块;3231—the first angle control block;
33—Y轴运动装置;33—Y-axis motion device;
331—第二步进电机;331—the second stepper motor;
332—第二减速器;332—the second reducer;
333—副臂;333—auxiliary arm;
34—Z轴运动装置;34—Z-axis motion device;
3401—第三步进电机;3401—the third stepper motor;
3402—第三步进电机安装板;3402—the third stepper motor mounting plate;
34021—调节槽;34021—Adjustment slot;
34022—方形空腔;34022—square cavity;
3403—第一同步带轮;3403—the first synchronous pulley;
3404—第二同步带轮;3404—the second synchronous pulley;
3405—同步带;3405—synchronous belt;
3406—导轨;3406—rail;
3407—滑块;3407—slider;
3408—齿条;3408—rack;
3409—齿条安装座;3409—rack mount;
3410—销轴;3410—pin shaft;
3411—缓冲垫块;3411—buffer block;
3412—同步带张紧机构;3412—Timing belt tensioning mechanism;
34121—调整块;34121—adjustment block;
34122—紧固螺钉;34122—fastening screw;
34123—张紧螺钉;34123—tension screw;
35—角度调整装置;35—angle adjustment device;
351—第四步进电机;351—the fourth stepper motor;
352—第四步进电机安装板;352—the fourth stepper motor mounting plate;
353—扭力盘;353—torque plate;
354—扭力架;354—torque frame;
355—力传感器;355 — force sensor;
36—产品夹取装置;36—product clamping device;
361—手指气缸;361—finger cylinder;
3611—气动手指;3611—pneumatic finger;
362—第一夹爪;362—the first jaw;
363—第二夹爪;363—the second jaw;
4—送料机构。4—feeding mechanism.
具体实施方式detailed description
下面结合附图说明及具体实施方式对本实用新型进一步说明。The utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.
如图1所示，一种回转式人与机器人协同作业自动化设备，其包括工作台1、转盘2、机器人3、送料机构4、转盘驱动机构(图中未示)，所述转盘2设有两个以上工位且中心为通孔，所述转盘2安装于转盘驱动机构上，所述转盘驱动机构安装于工作台1，所述转盘2的一个工位为人工作业工位，所述转盘2的其他工位为机器人3作业工位且都设有送料机构4,三个送料机构4分别命名为送料机构41、送料机构42、送料机构43，所述机器人3穿过转盘2的通孔安装于工作台1上;所述机器人3从送料机构4中取料进行转盘2的其他工位作业，所述转盘驱动机构驱动转盘2按工位依次旋转，人工在转盘2的一个工位进行作业。As shown in Fig. 1, a kind of rotary type human and robot cooperative operation automatic equipment, it comprises workbench 1, turntable 2, robot 3, feeding mechanism 4, turntable driving mechanism (not shown in the figure), described turntable 2 is provided with More than two stations and the center is a through hole, the turntable 2 is installed on the turntable drive mechanism, the turntable drive mechanism is installed on the workbench 1, one station of the turntable 2 is a manual work station, the turntable The other stations of 2 are robot 3 work stations and are all provided with feeding mechanism 4, and the three feeding mechanisms 4 are respectively named feeding mechanism 41, feeding mechanism 42, and feeding mechanism 43, and the robot 3 passes through the through hole of the turntable 2 Installed on the workbench 1; the robot 3 fetches materials from the feeding mechanism 4 to carry out other station operations on the turntable 2, the turntable drive mechanism drives the turntable 2 to rotate in sequence according to the stations, and manually performs operations on a station of the turntable 2 Operation.
具体地，如图1所示，本实用新型的转盘2设有4个工位，分别为工位1、工位2、工位3、工位4，转盘2的一个工位为人工作业工位，其他三个工位为机器人3作业工位且都设有送料机构4。转盘2、送料机构4、转盘驱动机构都为现有技术，送料机构4采用振动盘送料，转盘驱动机构(图中未示)采用电机驱动一对啮合的锥齿轮来驱动转盘2按工位转动，故在些不作详细说明。Concretely, as shown in Figure 1, the turntable 2 of the present utility model is provided with 4 stations, is respectively station 1, station 2, station 3, station 4, and a station of turntable 2 is manual work station. position, the other three stations are robot 3 work stations and are all provided with feeding mechanism 4. The turntable 2, the feeding mechanism 4, and the turntable driving mechanism are all prior art, the feeding mechanism 4 adopts a vibrating plate for feeding, and the turntable driving mechanism (not shown in the figure) uses a motor to drive a pair of meshing bevel gears to drive the turntable 2 to rotate according to the station , so no detailed description will be given here.
具体地，如图2所示，所述机器人3包括底座31、X轴运动装置32、Y轴运动装置33、Z轴运动装置34、两组角度调整装置35、两组产品夹取装置36，所述X轴运动装置32安装于所述底座31上，所述Y轴运动装置33安装于所述X轴运动装置32上，所述Z轴运动装置34安装于所述Y轴运动装置33前端，两组角度调整装置35分别安装于所述Z轴运动装置34两侧，两组产品夹取装置36分别安装于两组角度调整装置35下，所述X轴运动装置32实现水平初步定位，所述Y轴运动装置33实现水平精确定位，所述Z轴运动装置34实现Z轴方向运动精确定位，所述角度调整装置35实现角度调整，所述产品夹取装置36夹取产品。Specifically, as shown in FIG. 2, the robot 3 includes a base 31, an X-axis motion device 32, a Y-axis motion device 33, a Z-axis motion device 34, two sets of angle adjustment devices 35, and two sets of product clamping devices 36, The X-axis motion device 32 is mounted on the base 31, the Y-axis motion device 33 is mounted on the X-axis motion device 32, and the Z-axis motion device 34 is mounted on the front end of the Y-axis motion device 33 Two groups of angle adjustment devices 35 are respectively installed on both sides of the Z-axis motion device 34, two groups of product clamping devices 36 are respectively installed under the two groups of angle adjustment devices 35, and the X-axis motion device 32 realizes horizontal preliminary positioning, The Y-axis motion device 33 realizes precise horizontal positioning, the Z-axis motion device 34 realizes precise positioning of Z-axis movement, the angle adjustment device 35 realizes angle adjustment, and the product clamping device 36 clamps products.
具体地，如图3及图4所示，所述X轴运动装置32包括第一步进电机321、第一减速器322、主臂323，所述第一步进电机321设有第一步进电机输出轴，所述第一步进电机321固定安装于底座31内，所述第一减速器322固定安装于底座31上，所述第一步进电机输出轴与所述第一减速器322固定连接，所述主臂323的一端与所述第一减速器322固定连接;所述第一减速器322为谐波减速器。Specifically, as shown in Figures 3 and 4, the X-axis motion device 32 includes a first stepping motor 321, a first reducer 322, and a main arm 323, and the first stepping motor 321 is provided with a first The output shaft of the stepping motor, the first stepping motor 321 is fixedly installed in the base 31, the first reducer 322 is fixedly installed on the base 31, the output shaft of the first stepping motor and the first reducer 322 is fixedly connected, and one end of the main arm 323 is fixedly connected with the first reducer 322; the first reducer 322 is a harmonic reducer.
具体地，如图5及图6所示，所述Y轴运动装置33包括第二步进电机331、第二减速器332、副臂333，所述第二步进电机331设有第二步进电机输出轴，所述第二步进电机331、第二减速器332分别固定安装于所述副臂333的一端，所述第二步进电机输出轴与所述第二减速器332固定连接，所述第二减速器332与所述主臂323的另一端固定连接;所述第二减速器332为谐波减速器。Specifically, as shown in Figure 5 and Figure 6, the Y-axis motion device 33 includes a second stepper motor 331, a second reducer 332, and an auxiliary arm 333, and the second stepper motor 331 is provided with a second step The output shaft of the motor, the second stepping motor 331 and the second reducer 332 are fixedly installed on one end of the auxiliary arm 333 respectively, and the output shaft of the second stepping motor is fixedly connected with the second reducer 332 , the second reducer 332 is fixedly connected to the other end of the main arm 323; the second reducer 332 is a harmonic reducer.
具体地，如图7、图8及图9所示，所述Z轴运动装置34包括第三步进电机3401、第三步进电机安装板3402、第一同步带轮3403、第二同步带轮3404、同步带3405、导轨3406、滑块3407、齿条3408、齿条安装座3409、销轴3410，所述第三步进电机3401设有第三步进电机输出轴，所述第三步进电机3401固定安装于所述第三步进电机安装板3402背面，所述第三步进电机安装板3402的背面与所述副臂333的另一端固定连接，所述第一同步带轮3403固定安装于所述第三步进电机输出轴，所述第二同步带轮3404通过所述销轴3410与所述第三步进电机安装板3402转动连接，所述同步带3405分别与所述第一同步带轮3403、第二同步带轮3404传动连接，所述导轨3406固定安装于所述第三步进电机安装板3402前面，所述导轨3406与所述滑块3407滑动连接，所述齿条3408固定安装于所述齿条安装座3409，所述齿条安装座3409与所述滑块3407固定连接，所述齿条3408与所述同步带3405咬合;所述导轨3406、滑块3407、齿条3408、齿条安装座3409、销轴3410的数量都为2个。优选地，所述Z轴运动装置34还包括两个缓冲垫块3411，所述两个缓冲垫块3411分别固定安装于所述第三步进电机安装板3402上部，用于所述滑块3407向上运动时的缓冲。所述Z轴运动装置34还包括同步带张紧机构3412，所述同步带张紧机构3412包括调整块34121、紧固螺钉34122、张紧螺钉34123，所述第三步进电机安装板3402下部设有调节槽34021、方形空腔34022，所述销轴3410固定安装于所述调整块34121，所述调整块34121置于所述方形空腔34022内并与之松动连接，所述紧固螺钉34122穿过所述调节槽34021并与所述调整块34121螺纹连接，所述张紧螺钉34123穿过所述第三步进电机安装板3402底部的通孔与所述调整块34121螺纹连接，松开所述紧固螺钉34122，并上下拧动所述张紧螺钉34123即可实现同步带3405张紧或松开。Specifically, as shown in Figure 7, Figure 8 and Figure 9, the Z-axis motion device 34 includes a third stepper motor 3401, a third stepper motor mounting plate 3402, a first synchronous pulley 3403, a second synchronous belt wheel 3404, synchronous belt 3405, guide rail 3406, slider 3407, rack 3408, rack mount 3409, pin shaft 3410, the third stepping motor 3401 is provided with a third stepping motor output shaft, the third The stepping motor 3401 is fixedly installed on the back of the third stepping motor mounting plate 3402, the back of the third stepping motor mounting plate 3402 is fixedly connected with the other end of the auxiliary arm 333, and the first synchronous pulley 3403 is fixedly installed on the output shaft of the third stepping motor, the second synchronous pulley 3404 is rotationally connected with the third stepping motor mounting plate 3402 through the pin shaft 3410, and the synchronous belt 3405 is respectively connected with the The first synchronous pulley 3403 and the second synchronous pulley 3404 are connected in transmission, the guide rail 3406 is fixedly installed in front of the third stepping motor mounting plate 3402, and the guide rail 3406 is slidably connected with the slider 3407. The rack 3408 is fixedly mounted on the rack mount 3409, the rack mount 3409 is fixedly connected with the slider 3407, the rack 3408 is engaged with the timing belt 3405; the guide rail 3406, slide There are two pieces of blocks 3407, racks 3408, rack mounts 3409, and pin shafts 3410. Preferably, the Z-axis movement device 34 further includes two buffer pads 3411, and the two buffer pads 3411 are respectively fixedly installed on the upper part of the third stepper motor mounting plate 3402 for the slider 3407 Cushioning during upward movements. The Z-axis motion device 34 also includes a synchronous belt tensioning mechanism 3412, the synchronous belt tensioning mechanism 3412 includes an adjustment block 34121, a fastening screw 34122, and a tensioning screw 34123, and the lower part of the third stepper motor mounting plate 3402 There are adjustment slots 34021 and square cavities 34022. The pin shaft 3410 is fixedly mounted on the adjustment block 34121. The adjustment block 34121 is placed in the square cavity 34022 and loosely connected with it. The fastening screws 34122 passes through the adjustment slot 34021 and is threaded with the adjustment block 34121, and the tension screw 34123 is threaded with the adjustment block 34121 through the through hole at the bottom of the third stepper motor mounting plate 3402, loose Open the fastening screw 34122, and turn the tension screw 34123 up and down to realize the tensioning or loosening of the timing belt 3405.
具体地，如图10及图12所示，所述角度调整装置35包括第四步进电机351、第四步进电机安装板352、扭力盘353、扭力架354，所述第四步进电机351设有第四步进电机输出轴，所述第四步进电机351固定安装于所述第四步进电机安装板352，所述第四步进电机安装板352与所述滑块47固定连接，所述扭力盘353固定安装于所述第四步进电机输出轴，所述扭力架354固定安装于扭力盘353。Specifically, as shown in Figure 10 and Figure 12, the angle adjustment device 35 includes a fourth stepper motor 351, a fourth stepper motor mounting plate 352, a torque plate 353, a torque frame 354, the fourth stepper motor 351 is provided with a fourth stepping motor output shaft, the fourth stepping motor 351 is fixedly mounted on the fourth stepping motor mounting plate 352, and the fourth stepping motor mounting plate 352 is fixed to the slider 47 The torque plate 353 is fixedly installed on the output shaft of the fourth stepping motor, and the torque frame 354 is fixedly installed on the torque plate 353 .
具体地，如图11及图13所示，所述产品夹取装置36包括手指气缸361、第一夹爪362、第二夹爪363，所述手指气缸361设有两气动手指3611，所述第一夹爪362、第二夹爪363分别固定安装于所述两气动手指3611处，所述手指气缸361固定安装于所述扭力架354下。所述角度调整装置35还包括力传感器355，所述力传感器355固定安装于所述扭力盘353、扭力架354之间，所述力传感器355用于测量第一夹爪362和第二夹爪363夹取产品时的质量。所述角度调整装置35和产品夹取装置36都为两组，以便于能同时夹取两个产品，提高效率，节约工时。Specifically, as shown in Figure 11 and Figure 13, the product clamping device 36 includes a finger cylinder 361, a first jaw 362, and a second jaw 363, and the finger cylinder 361 is provided with two pneumatic fingers 3611. The first clamping jaw 362 and the second clamping jaw 363 are respectively fixedly mounted on the two pneumatic fingers 3611 , and the finger cylinder 361 is fixedly mounted under the torque frame 354 . The angle adjustment device 35 also includes a force sensor 355, which is fixedly installed between the torque plate 353 and the torque frame 354, and the force sensor 355 is used to measure the first jaw 362 and the second jaw 363 quality when gripping the product. Both the angle adjustment device 35 and the product clamping device 36 are in two groups, so as to be able to clamp two products at the same time, improve efficiency and save man-hours.
优选地，如图4所示，所述主臂323上还设有第一角度控制挡块3231，所述第一角度控制挡块3231固定安装于靠近所述主臂323的一端处，所述第一角度控制挡块241用于控制所述主臂323的最大旋转角度。Preferably, as shown in FIG. 4 , the main arm 323 is further provided with a first angle control block 3231 , and the first angle control block 3231 is fixedly installed near one end of the main arm 323 . The first angle control block 241 is used to control the maximum rotation angle of the main arm 323 .
本实用新型还包括控制系统，所述控制系统用于控制所述第一步进电机321、第二步进电机331、第三步进电机3401、第四步进电机351、手指气缸361、转盘驱动机构、送料机构41、送料机构42、送料机构43的工作。The utility model also includes a control system, which is used to control the first stepping motor 321, the second stepping motor 331, the third stepping motor 3401, the fourth stepping motor 351, the finger cylinder 361, the turntable The work of the driving mechanism, the feeding mechanism 41, the feeding mechanism 42, and the feeding mechanism 43.
如图1所示，本实用新型的工作原理(工序)如下：As shown in Figure 1, the operating principle (operation) of the present utility model is as follows:
1.作业人员放置工件到工位1,转盘2旋转一个工位;1. The operator places the workpiece to station 1, and the turntable 2 rotates one station;
2.作业人员放置工件到工位2，同时机器人3在送料机构41取料进行工位1的作业;2. The operator places the workpiece to station 2, and at the same time, the robot 3 picks up the material from the feeding mechanism 41 to carry out the operation of station 1;
3.作业完成后，转盘2旋转一个工位，作业人员放置工件到工位3，同时机器人3在送料机构41取料进行工位2的作业，在送料机构42取料进行工位1的作业;3. After the operation is completed, the turntable 2 rotates one station, and the operator places the workpiece to the station 3. At the same time, the robot 3 picks up the material from the feeding mechanism 41 for the operation of the station 2, and picks up the material from the feeding mechanism 42 for the operation of the station 1. ;
4.作业完成后，转盘2旋转一个工位，作业人员放置工件到工位4，同时机器人3在送料机构41取料进行工位3的作业，在送料机构42取料进行工位2的作业，在送料机构43取料进行工位1的作业；4. After the operation is completed, the turntable 2 rotates a station, and the operator places the workpiece to the station 4. At the same time, the robot 3 picks up the material from the feeding mechanism 41 to perform the operation of the station 3, and picks up the material from the feeding mechanism 42 to perform the operation of the station 2. , taking material at feeding mechanism 43 to carry out the operation of station 1;
5.作业完成后，转盘2旋转一个工位，作业人员取出工位1的完成品工件，同时放置代加工工件到工位1。5. After the operation is completed, the turntable 2 rotates one station, and the operator takes out the finished workpiece of station 1, and places the sub-processed workpiece to station 1 at the same time.
按以上工序循环进行。Carry out cycle by above procedure.
机器人3的工作原理如下：Robot 3 works as follows:
X轴运动定位：控制系统发出信号给所述第一步进电机321，第一步进电机输出轴旋转并通过第一减速器322带动所述主臂323旋转，同时带动与主臂323连接的副臂333一起旋转至指定位置;X-axis motion positioning: the control system sends a signal to the first stepping motor 321, the output shaft of the first stepping motor rotates and drives the main arm 323 to rotate through the first reducer 322, and drives the main arm 323 connected to it at the same time The auxiliary arm 333 rotates together to a designated position;
Y轴运动定位：控制系统发出信号给所述第二步进电机331，第二步进电机输出轴旋转并通过第二减速器332带动所述副臂333旋转至指定位置，实现精确定位;Y-axis motion positioning: the control system sends a signal to the second stepping motor 331, and the output shaft of the second stepping motor rotates and drives the auxiliary arm 333 to rotate to a designated position through the second reducer 332 to achieve precise positioning;
Z轴运动定位：控制系统发出信号给所述第三步进电机3401，第三步进电机输出轴旋转并通过第一同步轮403、第二同步轮404带动所述同步带3405带动上下移动，所述同步带3405带动所述齿条3408一起移动，所述齿条3408通过齿条安装块409带动滑块3407沿导轨3406上下移动，所述滑块3407带动与之相连的第四步进电机351、手指气缸361一起上下移动，最终达到第一夹爪362和第二夹爪363在Z轴方向上精确定位，夹住产品;Z-axis motion positioning: the control system sends a signal to the third stepping motor 3401, the output shaft of the third stepping motor rotates and drives the synchronous belt 3405 to move up and down through the first synchronous wheel 403 and the second synchronous wheel 404, The timing belt 3405 drives the rack 3408 to move together, and the rack 3408 drives the slider 3407 to move up and down along the guide rail 3406 through the rack mounting block 409, and the slider 3407 drives the fourth stepper motor connected thereto 351. The finger cylinder 361 moves up and down together, and finally achieves the precise positioning of the first jaw 362 and the second jaw 363 in the Z-axis direction to clamp the product;
角度精确调整定位：控制系统发出信号给所述第四步进电机351，所述第四步进电机输出轴旋转并通过扭力盘353、扭力架354带动所述产品夹取装置36一起旋转，最终达到角度精确调整定位的目的;Accurate angle adjustment and positioning: the control system sends a signal to the fourth stepping motor 351, the output shaft of the fourth stepping motor rotates and drives the product clamping device 36 to rotate together through the torque plate 353 and the torque frame 354, finally To achieve the purpose of precise angle adjustment and positioning;
夹取产品：控制系统发出信号给所述手指气缸361，所述手指气缸361工作驱动所述两气动手指3611工作夹取或松开产品。Clamping the product: the control system sends a signal to the finger cylinder 361, and the finger cylinder 361 works to drive the two pneumatic fingers 3611 to work to clamp or release the product.
本实用新型的优点在于，本实用新型采用机器人从送料机构中取料进行转盘的其他工位作业，转盘驱动机构驱动转盘按工位依次旋转，人工在转盘的一个工位进行作业,本实用新型实现了人与机器人回转式协同作业。本实用新型能处理多任务工位的产品，自动化设备的机器人集成的难度小，成本低，且适合当前商品个性化、客户定制化设计多品种小批量的商业模式，换线停工时间短，作业效率高。The utility model has the advantage that the utility model uses a robot to take materials from the feeding mechanism to carry out other station operations on the turntable, the turntable drive mechanism drives the turntable to rotate in turn according to the stations, and manually works at one station of the turntable. Realized the rotary collaborative operation of man and robot. The utility model can handle the products of multi-task stations, the robot integration of the automation equipment is less difficult, the cost is low, and it is suitable for the current business model of product personalization and customer customization design with multiple varieties and small batches, and the downtime for changing lines is short, and the operation efficient.
以上内容是结合具体的优选实施方式对本实用新型所作的进一步详细说明，不能认定本实用新型的具体实施只局限于这些说明。对于本实用新型所属技术领域的普通技术人员来说，在不脱离本实用新型构思的前提下，还可以做出若干简单推演或替换，都应当视为属于本实用新型的保护范围。The above content is a further detailed description of the utility model in combination with specific preferred embodiments, and it cannot be assumed that the specific implementation of the utility model is only limited to these descriptions. For a person of ordinary skill in the technical field to which the utility model belongs, without departing from the concept of the utility model, some simple deduction or substitutions can also be made, which should be regarded as belonging to the protection scope of the utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620016257.0UCN205290958U (en) | 2016-01-06 | 2016-01-06 | A rotary automatic equipment for human-robot collaborative operation |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620016257.0UCN205290958U (en) | 2016-01-06 | 2016-01-06 | A rotary automatic equipment for human-robot collaborative operation |
| Publication Number | Publication Date |
|---|---|
| CN205290958Utrue CN205290958U (en) | 2016-06-08 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620016257.0UExpired - Fee RelatedCN205290958U (en) | 2016-01-06 | 2016-01-06 | A rotary automatic equipment for human-robot collaborative operation |
| Country | Link |
|---|---|
| CN (1) | CN205290958U (en) |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415347A (en)* | 2015-11-18 | 2016-03-23 | 欧阳庆丰 | A technology for the cooperative operation of rotary man and manipulator |
| CN106585102A (en)* | 2017-02-03 | 2017-04-26 | 盐城工学院 | Printed circuit ink-jet printing device with rotary worktable and ink-jet printing system |
| CN109178930A (en)* | 2018-10-25 | 2019-01-11 | 广州明森合兴科技有限公司 | A kind of collection device of car sorting equipment |
| CN109230510A (en)* | 2018-09-20 | 2019-01-18 | 浙江大学华南工业技术研究院 | Material Sorting production line and conveying device |
| CN111212799A (en)* | 2017-10-11 | 2020-05-29 | 快砖知识产权私人有限公司 | Machines for conveying objects and multi-compartment carousels for use with them |
| CN111516384A (en)* | 2019-02-01 | 2020-08-11 | 湖南华庆科技有限公司 | Optical film production equipment and method |
| US12073150B2 (en) | 2016-07-15 | 2024-08-27 | Fastbrick Ip Pty Ltd | Dynamic path for end effector control |
| US12214500B2 (en) | 2018-07-16 | 2025-02-04 | Fastbrick Ip Pty Ltd | Backup tracking for an interaction system |
| US12311546B2 (en) | 2018-07-16 | 2025-05-27 | Fastbrick Ip Pty Ltd | Active damping system |
| US12385265B2 (en) | 2020-04-22 | 2025-08-12 | Fastbrick Ip Pty Ltd | Block transfer apparatus and improved clamping assembly for use therewith |
| US12398574B2 (en) | 2020-07-08 | 2025-08-26 | Fastbrick Ip Pty Ltd | Adhesive application system |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105415347A (en)* | 2015-11-18 | 2016-03-23 | 欧阳庆丰 | A technology for the cooperative operation of rotary man and manipulator |
| US12353801B2 (en) | 2016-07-15 | 2025-07-08 | Fastbrick Ip Pty Ltd | Robot base path planning |
| US12073150B2 (en) | 2016-07-15 | 2024-08-27 | Fastbrick Ip Pty Ltd | Dynamic path for end effector control |
| CN106585102A (en)* | 2017-02-03 | 2017-04-26 | 盐城工学院 | Printed circuit ink-jet printing device with rotary worktable and ink-jet printing system |
| CN106585102B (en)* | 2017-02-03 | 2018-06-29 | 盐城工学院 | Printed circuit ink jet printing device and ink-jet print system with rotary table |
| CN111212799A (en)* | 2017-10-11 | 2020-05-29 | 快砖知识产权私人有限公司 | Machines for conveying objects and multi-compartment carousels for use with them |
| AU2018348785B2 (en)* | 2017-10-11 | 2024-05-02 | Fastbrick Ip Pty Ltd | Machine for conveying objects and multi-bay carousel for use therewith |
| US12214500B2 (en) | 2018-07-16 | 2025-02-04 | Fastbrick Ip Pty Ltd | Backup tracking for an interaction system |
| US12311546B2 (en) | 2018-07-16 | 2025-05-27 | Fastbrick Ip Pty Ltd | Active damping system |
| CN109230510A (en)* | 2018-09-20 | 2019-01-18 | 浙江大学华南工业技术研究院 | Material Sorting production line and conveying device |
| CN109178930A (en)* | 2018-10-25 | 2019-01-11 | 广州明森合兴科技有限公司 | A kind of collection device of car sorting equipment |
| CN109178930B (en)* | 2018-10-25 | 2024-07-19 | 广州明森合兴科技有限公司 | Collecting device of card sorting equipment |
| CN111516384A (en)* | 2019-02-01 | 2020-08-11 | 湖南华庆科技有限公司 | Optical film production equipment and method |
| US12385265B2 (en) | 2020-04-22 | 2025-08-12 | Fastbrick Ip Pty Ltd | Block transfer apparatus and improved clamping assembly for use therewith |
| US12398574B2 (en) | 2020-07-08 | 2025-08-26 | Fastbrick Ip Pty Ltd | Adhesive application system |
| Publication | Publication Date | Title |
|---|---|---|
| CN205290958U (en) | A rotary automatic equipment for human-robot collaborative operation | |
| CN104608124B (en) | Five-axis hoisting manipulator | |
| CN202895245U (en) | Arm assembly for industrial robot and industrial robot | |
| CN205471576U (en) | Feeding device | |
| CN204893397U (en) | Product Assembly equipment | |
| CN101244539A (en) | Mold Freeform Surface Flexible Polishing Machine | |
| CN105873719A (en) | Five-axis machining device | |
| CN103753058A (en) | Four-shaft double-station spot welding robot | |
| CN205766158U (en) | A high-precision five-axis manipulator | |
| CN112275571A (en) | Dispensing real-time glue line detection equipment and method | |
| CN201198109Y (en) | A flexible polishing machine for mold free-form surface | |
| CN205343063U (en) | Rotation type tongs storehouse | |
| CN205290979U (en) | Reciprocating type people and robot be operation automation equipment in coordination | |
| CN213438125U (en) | Beveling assembly mechanical arm and beveling assembly device | |
| JPH05138485A (en) | Pallet exchange device of machine tool | |
| CN208648087U (en) | A kind of automatic conveying device | |
| CN205723238U (en) | Limit switch head kludge | |
| CN110878448B (en) | Gripping device for sewing equipment | |
| CN210787984U (en) | Multi-station automatic dispenser | |
| CN208560876U (en) | A kind of handling device for fixture block | |
| CN208019310U (en) | A kind of large-scale 3 axis multiple-project stamping parts conveying robot | |
| CN214817735U (en) | Automatic clamp holder with adjusting mechanism for machining | |
| CN207289177U (en) | Weldering becomes the automatic Repair Welding Machine of the accurate single beam in position | |
| CN214085196U (en) | Automatic labeling equipment | |
| CN212600406U (en) | A fixed tool for water gauge accessory milling machine processing |
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right | Effective date of registration:20180522 Address after:523533 462 Youyi Road, Dunwu industrial area, Qiaotou town, Dongguan, Guangdong Patentee after:Dongguan New Technology Co. Ltd. Address before:523000 Guangdong province Dongguan City Qiaotou town Dunwu industrial area Patentee before:Dongguan Shin Tech Engineering Co.,Ltd. | |
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160608 Termination date:20210106 |