TW201803705A - Five-axis gantry manipulator and operating method thereof reducing the area occupied by the manipulator when it is mated with a working bench - Google Patents

Abstract

This invention relates to a five-axis gantry manipulator and an operating method thereof. The five-axis gantry manipulator comprises two upright posts, a fixed block, a first movable block, a second movable block, a first rotating block, a second rotating block and a clamping device. The five-axis gantry manipulator is used for processing the actions of initial picking, feeding and re-picking, which reduces the area occupied by the manipulator when it is mated with a working bench, reduces the operation time, and improves the safety of use.

Description

Five-axis gate-shaped manipulator and operation method thereof

The invention mainly relates to a robot arm applied to a machining device and an operation method thereof, and particularly relates to a five-axis gate-shaped manipulator and an operation method thereof.

Nowadays, the development of manipulators is becoming more and more extensive, which can facilitate the replacement of workpieces on the working mother machine after processing, reducing manpower and increasing safety. The manipulators used in general factories are independent and located on the working mother machine and the loading table. In the meantime, the manipulator has a large range of movement, and the working range of the manipulator should not be allowed to be approached to prevent danger. Therefore, the manipulator, the work machine and the loading table occupy a large working area. The larger the extension range of the manipulator is, the longer the working time of the manipulator is. If the number of manipulators is increased in order to avoid this situation, in addition to increasing the occupied area, it will also greatly increase the operating cost.

Therefore, the purpose of the present invention is to reduce the area occupied by the manipulator when it is matched with the working mother machine, and to reduce the operating time, increase the safety in use, and thereby increase the use value of the manipulator.

In order to achieve the above object, the present invention provides a five-axis gate-shaped manipulator and a method for operating the same, wherein the five-axis gate-shaped manipulator includes: two columns, a fixed block, a first moving block, a second moving block, A first rotating block, a second rotating block, and a clamping device; two pillars are connected at the two ends of the bottom surface of the fixed block, respectively; the first moving block is elongated, and the first moving block is horizontally arranged and connected to The fixed block is at an angle of ninety degrees. The first moving block can be laterally and longitudinally disposed on the fixed block relative to the fixed block along the top surface of the fixed block; the second moving block is elongated, and the second moving block is One end of the first moving block is rotatably provided at the bottom end of the second moving block, and the second rotating block is rotatably provided at the first end of the first moving block. One side of a rotating block is near the bottom end; the clamping device is disposed on one side of the second rotating block which is different from the first rotating block and is connected to the first rotating block. The holding device includes a partition and two clamping jaws. The partition includes four edge surfaces and two sides, and one edge surface of the partition is disposed on the Two rotary block rotatably connected to one side surface different from the first rotary blocks, the two jaws are provided on both side surfaces of the separator.

In the five-axis gate-shaped manipulator, the bottom end of the second moving block extends straight down from one of the edges, and the bottom end of the straight plate extends horizontally toward the first rotating block. The bottom end is rotatably connected to the top surface of the flat plate.

The present invention also provides a method for operating a five-axis portal robot, which includes the following steps: (a) Provides a five-axis portal robot, including two columns, a fixed block, a first moving block, a The second moving block, a first rotating block, a second rotating block and a clamping device; (b) Initial picking: Move the first moving block longitudinally and laterally relative to the fixed block to the workpiece to be clamped by the workpiece Upward, align the clamping jaws with the workpiece to be clamped, and move the second moving block downward, meanwhile, rotate the first rotating block and the second rotating block to rotate the clamping device and clamp at least one of the clamping jaws After the workpiece is held by the clamping device, the second moving block is moved upwards; c) feeding: the first moving block is moved above a worktable, the second moving block is moved downward, and the first rotating block is rotated at the same time And the second rotating block, align the clamping jaws of the clamping device with the workpiece clamping area of the working table, and move the first moving block in the direction of the workpiece clamping area relative to the fixed block, so that the clamping jaws place the workpiece in After the workpiece clamping area of the working table, open the jaws of the clamping jaws to release the workpiece Move the first moving block relative to the fixed block in the opposite direction of the workpiece clamping area, and move the second moving block upward; and (d) Re-feeding: After the workpiece processing is completed, move the first moving block above the workpiece of the working machine. , The second moving block is moved downward, at the same time, the first rotating block and the second rotating block are rotated to rotate the clamping device, so that at least one clamping jaw grips the workpiece, and the opposite direction of the fixed block is toward the workpiece clamping area After moving the first moving block, the gripper moves the second moving block upward after gripping the workpiece to the outside of the clamping area of the working table.

In the operation method of the five-axis gate-shaped manipulator, in steps (b) and (d), when clamping a workpiece, the clamping claws of the clamping device collide with the workpiece first, and then confirm the clamping position before doing Holding.

With the above technical means, the achievable effects of the present invention are: 1. Due to the cooperation of the column and each moving block, the five-axis gate-shaped manipulator can reduce the occupied area when using, each moving block, rotating block and clamping device Connected to the top of the machine to move, the staff need not worry about the danger when they are near the machine. They can also approach the machine to confirm the work. 2. The five-axis gate-type robot reduces the working range, and can shorten the operating time compared with an independent robot, thereby reducing operating costs, and further increasing the value of the robot.

In order to understand the technical features and practical effects of the present invention in detail, and can be implemented in accordance with the contents of the description, the preferred embodiment shown in the figure is further described in detail as follows:

The present invention is a five-axis gate-shaped manipulator. For a preferred embodiment, please refer to FIG. 1, which includes two columns 10, a fixed block 20, a first moving block 30, a second moving block 40, and a first moving block. A rotating block 50, a second rotating block 60, and a clamping device 70. Two bottom posts 10 are respectively connected to the two ends of the bottom surface of the fixed block 20, the first moving block 30 is elongated, and the first moving block 30 It is set horizontally and at an angle of ninety degrees with the fixed block 20. The first moving block 30 may include a lower part 32 and an upper part 34 provided above the lower part 32. The bottom surface of the lower part 32 may be along the top surface of the fixed block 20. The bottom part of the upper part 34 is arranged on the fixed part 20 so as to move laterally relative to the fixed block 20, and the bottom part of the upper part 34 is vertically movable along the top surface of the lower part 32. The second moving block 40 is elongated. The two moving blocks 40 are vertically disposed and movably disposed at one end of the first moving block 30. Preferably, the bottom end of the second moving block 40 extends straight down to a straight plate 42 near one of the edges, and the straight plate A flat plate 44 extends horizontally from the bottom end of 42, and the top end of the first rotating block 50 is rotatably provided at the bottom end of the second moving block 40. The first rotating block 50 The bottom end is rotatably connected to the top surface of the flat plate 44. The first rotating block 50 is less likely to be damaged by force during rotation due to the cooperation and support of the second moving block 40 and the flat plate 42 and the flat plate 44. The flat plate 44 faces the first rotating block 50, and the bottom end of the first rotating block 50 is rotatably provided on the top surface of the flat plate 44. The second rotating block 60 is rotatably provided on the first rotating block 50. One of the sides of the rotating block 50 is near the bottom end. The clamping device 70 is disposed on the second rotating block 60. The clamping device 70 includes a partition 72. And two clamping claws 74, the partition 72 includes four edge surfaces and two sides, and one edge surface of the partition 72 is provided on the second rotating block 60 different from one surface rotatably connected to the first rotating block 50. Two clamping claws 74 are respectively disposed on both sides of the partition plate 72. Since the second rotating block 60 and the clamping device 70 are connected to the first rotating block 50, the first rotating block 50 will be affected during the rotation process. Limited to the straight plate 42 of the second moving block 40, and the first rotating block 50 is restricted to be one hundred and eighty degrees relative to the second moving block 40 move.

Please refer to FIG. 2 to FIG. 7. The preferred operation method of the five-axis gate-shaped manipulator of the present invention includes the following steps: (a) A five-axis gate-shaped manipulator is provided, which includes two columns 10 , A fixed block 20, a first moving block 30, a second moving block 40, a first rotating block 50, a second rotating block 60, and a clamping device 70, as shown in FIG. 2, the fixed block 20 is fixed across It is arranged above the workpiece placing table 80 and the working machine table 82; (b) Initial reclaiming: as shown in FIG. 2 and FIG. 3, the first moving block 30 opposite to the fixed block 20 moves to the workpiece placing table longitudinally and laterally. Above the workpiece 90 to be clamped 80, and the clamping claw 74 is aligned with the workpiece 90 to be clamped, the second moving block 40 is moved downward as shown in FIG. 4, and at the same time, as shown in FIGS. 5 and 6, the first rotating block The 50 rotation and the second rotation block 60 rotate, so that the clamping device 70 rotates and the clamping claw 74 clamps the workpiece 90 as shown in FIG. 7. Preferably, the two clamping claws 74 of the clamping device 70 can be operated at the same time, one of which When the claw 74 is about to be clamped, the claws are collapsed to hold the workpiece 90, and the other claw 74 maintains the claws opened, or the two claws 74 can be clamped at the same time. It is also preferable that when clamping the workpiece 90, the clamping claws 74 of the clamping device 70 close the claws to touch the workpiece 90, confirm the clamping position, and then clamp to securely clamp the workpiece 90. After the clamping device 70 clamps the workpiece 90, the second moving block 40 moves upward; (c) Feeding: the first moving block 30 moves above the work table 82, the second moving block 40 moves downward, and at the same time the first A rotating block 50 and a second rotating block 60 are rotated to align the clamping jaws 74 of the clamping device 70 with the workpiece 90 to the workpiece clamping area of the work table 82, and move relative to the fixed block 20 toward the workpiece clamping area. The first moving block 30 causes the clamping jaw 74 to place the workpiece 90 into the clamping area of the work table 82, and the clamping jaw 74 opens the claw to release the workpiece 90, and moves the first opposite direction of the fixed block 20 to the workpiece clamping area. One moving block 30, the second moving block 60 moves upward; and (d) Re-feeding: After the processing of the workpiece 90 is completed, the first moving block 60 moves above the workpiece 90 of the work table 82, and the second moving block 60 moves downward. At the same time, the first rotating block 50 rotates and the second rotating block 60 rotates to rotate the clamping device 70. The clamping claws 74 of the clamping device 70 first touch the claws to touch. Piece 90, confirm the clamping position, and then clamp, so that at least one clamping claw 74 clamps the workpiece 90, and moves the first moving block 20 in the opposite direction of the workpiece clamping area relative to the fixed block 20, so that the clamping claw 74 is clamped The workpiece 90 is moved outside the clamping area of the work table 82, and the second moving block 60 is moved upward. The subsequent position design of the workpiece 90 may be selected.

To sum up, the fixing block 20 is fixedly disposed above the workpiece placing table 80 and the working machine table 82, and each of the moving blocks 30, 40, each of the rotating blocks 50, 60 and the clamping device 70 are connected to the fixing block 20, The working range is mainly the moving range of the fixed block 20. This can save the area occupied during use. Workers do not need to worry about the danger when they are near the machine. They can also approach the machine to confirm their work. 20. The cooperation of each moving block 30, 40, each rotating block 50, 60 and the clamping device 70 can clamp the workpiece 90 in multiple directions and at various angles, and the overall operation time is shorter than that of an independent robot. , Can reduce operating costs and increase the use of security, and further increase the value of use, which is conducive to popularization.

10‧‧‧ post
20‧‧‧ fixed block
30‧‧‧ the first shift block
32‧‧‧ lower part
34‧‧‧ Upper Section
40‧‧‧Second shift block
42‧‧‧ candy bar
44‧‧‧ Tablet
50‧‧‧The first turning block
60‧‧‧Second Rotating Block
70‧‧‧ clamping device
72‧‧‧ bulkhead
74‧‧‧Jaw
80‧‧‧ Workpiece placing table
82‧‧‧Working table
90‧‧‧ Workpiece

FIG. 1 is a perspective view of a preferred embodiment of the present invention. FIG. 2 is a schematic diagram of an implementation state of a preferred embodiment of the present invention. FIG. 3 is a schematic diagram of an implementation state of a preferred embodiment of the present invention. FIG. 4 is a partially enlarged perspective view of a preferred embodiment of the present invention. FIG. 5 is a schematic diagram of an implementation state of a preferred embodiment of the present invention. FIG. 6 is a schematic diagram of an implementation state of a preferred embodiment of the present invention. FIG. 7 is a schematic diagram of an implementation state of clamping a workpiece according to a preferred embodiment of the present invention.

10‧‧‧ post

20‧‧‧ fixed block

30‧‧‧ the first shift block

32‧‧‧ lower part

34‧‧‧ Upper part

40‧‧‧Second shift block

42‧‧‧ candy bar

44‧‧‧ Tablet

50‧‧‧The first turning block

60‧‧‧Second Rotating Block

70‧‧‧ clamping device

72‧‧‧ bulkhead

74‧‧‧Jaw

Claims (4)

A five-axis gate-shaped manipulator includes two columns, a fixed block, a first moving block, a second moving block, a first rotating block, a second rotating block, and a clamping device; the fixed block The two bottom pillars are connected to two columns near the two ends respectively; the first moving block is elongated, the first moving block is horizontally arranged and is at an angle of ninety degrees with the fixed block, and the first moving block may be opposed along the top surface of the fixed block The fixed block is horizontally and longitudinally arranged on the fixed block; the second moving block is elongated; the second moving block is vertically arranged and vertically movable at one end of the first moving block; the first One end of the rotating block is rotatably provided on the bottom end of the second moving block; the second rotating block is rotatably provided on one side of the first rotating block and near the bottom end; the clamping device is provided on the The second rotating block is different from one side that is rotationally connected to the first rotating block. The clamping device includes a partition plate and two clamping claws. The partition plate includes four edge surfaces and two side surfaces. One edge surface of the partition plate. One side of the second rotating block is different from the one which is rotationally connected with the first rotating block. Provided on both side surfaces of the separator. A five-axis gate-shaped manipulator as described in claim 1, wherein the bottom end of the second moving block extends straight down from one of the edges, and the bottom end of the straight plate extends horizontally toward the first rotating block. The bottom end of a rotating block is rotatably connected to the top surface of the flat plate. A method for operating a five-axis portal robot includes the following steps: (a) A five-axis portal robot is provided, which includes two columns, a fixed block, a first moving block, and a second moving block. A first rotating block, a second rotating block, and a clamping device; (b) initial picking: move the first moving block longitudinally and laterally relative to the fixed block above the workpiece to be clamped by the workpiece placing table, and make The clamping jaw is aligned with the workpiece to be clamped, and the second moving block is moved downward. At the same time, the first rotating block and the second rotating block are rotated to rotate the clamping device and at least one of the clamping jaws clamps the workpiece and clamps the workpiece. After the device clamps the workpiece, the second moving block is moved upward; (c) Feeding: Move the first moving block above a working table, move the second moving block downward, and simultaneously rotate the first rotating block and the second Rotate the block to align the clamping jaws of the clamping device with the workpiece clamping area of the work machine, and move the first moving block in the direction of the workpiece clamping area relative to the fixed block, so that the clamping jaws place the workpiece into the working machine. After the workpiece clamping area is opened, the claws of the clamping jaws are opened to release the workpiece, and the fixed block is relatively fixed. Move the first moving block in the opposite direction of the workpiece clamping area, and move the second moving block upwards; and (d) Re-feeding: After the workpiece processing is completed, move the first moving block to the workpiece of the working machine and move it downward At the same time, the second moving block is rotated to rotate the first rotating block and the second rotating block to rotate the clamping device, so that at least one clamping jaw clamps the workpiece, and moves the first movement relative to the fixed block in a direction opposite to the workpiece clamping area. Block to move the second moving block upward after the clamping jaw moves the workpiece outside the clamping area of the worktable. The operation method of the five-axis gate-shaped manipulator as described in claim 3, wherein in steps (b) and (d), when clamping the workpiece, the clamping claws of the clamping device first touch the workpiece to confirm the clamping. Position again before clamping.