CN113119079A

CN113119079A - Five arms

Info

Publication number: CN113119079A
Application number: CN202110561700.8A
Authority: CN
Inventors: 林子春; 林高宏; 张园; 刘霖; 王马利; 潘林勇; 林子钱
Original assignee: Qixing Intelligent Technology Co Ltd
Current assignee: Qixing Intelligent Technology Co Ltd
Priority date: 2021-05-23
Filing date: 2021-05-23
Publication date: 2021-07-16

Abstract

The application provides a five arms, concretely relates to material handling technical field. The material is controlled to convey the operation of the five-axis mechanical arm by using the power device II, the rotary joint and the power device I, the rotary base, the beam arm, the telescopic arm, the vertical lifting arm and the execution joint execute respective rotary movement, front-back transfer movement or lifting transfer movement in different time periods, the conveying requirements of materials at different heights during machine tool machining are met, the power device II, the rotary joint and the power device I are preferably servo motors, and the control precision of the mechanical arm is further improved. The material transports five arms of this application has effectively solved current material and has transported the problem that truss arm exists the operation scope and receive the restriction, provides lower price and makes the relatively simple material transport arm, has great development space in the arm trade.

Description

Five arms

Technical Field

The application provides a five arms, concretely relates to material handling technical field.

Background

The existing truss for conveying machine tool materials is mostly erected above processing equipment, the truss usually needs to be supported by upright columns on two sides to bear the weight of the whole truss, a cross beam of the truss is easy to deform or even bend after being used for a long time, and due to the limitation of operating space, the working space of a working arm of the truss is limited by the length of the working arm of the truss, the working radius is also limited, and the large-span space operation cannot be completed. In view of this, many manufacturing enterprises have introduced a truss-type manipulator to replace the manual work of loading and unloading, and these transportation works with high labor intensity and high risk coefficient are important component equipments for material transportation on automatic production lines.

Truss robot configurations typically include uprights, crossbeams, robotic arms, and end effectors, among others. When the distance that the material needs to be carried is relatively long, or when will carry the material from higher to lower, the truss arm just can't be realized to the not meeting needs of carrying of material at different heights, often needs the manual work to carry. In addition, the existing truss mechanical arm cannot meet the requirement of material conveying of multiple machine tools, so that the working efficiency is low.

Disclosure of Invention

Aiming at the problem that the existing truss type mechanical arm cannot meet the conveying requirements of materials at different heights, the five-axis mechanical arm is provided with a rotary base, a beam arm, a telescopic arm, a vertical lifting arm and an execution joint, and is characterized in that the rotary base is provided with a rotary joint, and an output shaft of the rotary joint is fixedly connected with the beam arm; the cross beam arm is provided with a sliding device, the vertical lifting arm is fixedly provided with an execution joint, the execution joint is connected with a first wrist joint, the first wrist joint is connected with a second wrist joint, the second wrist joint is provided with a first clamping jaw and a second clamping jaw, the central line of the second clamping jaw is perpendicular to the central line of the first clamping jaw, and the central line of the first clamping jaw is collinear or parallel with the central line of the vertical lifting arm.

Preferably, a nut support is arranged between the sliding device and the telescopic arm, a first power device is installed on the cross beam arm, the first power device is connected with a screw rod, and the screw rod is matched in the nut support; the telescopic arm is provided with a second power device, the second power device drives a gear, and the gear is matched with a lifting rack arranged on the vertical lifting arm; the vertical lifting arm is fixedly provided with an execution joint, the execution joint is connected with a first wrist joint, the first wrist joint is connected with a second wrist joint, the second wrist joint is provided with a first clamping jaw and a second clamping jaw, the central line of the second clamping jaw is perpendicular to the central line of the first clamping jaw, and the central line of the first clamping jaw is collinear or parallel to the central line of the vertical lifting arm.

Preferably, the output shaft is fixed to a rear end of the beam arm, and the rotary base is mounted on a base body provided to the robot arm.

Preferably, the nut bracket and the screw rod are positioned inside the telescopic arm, the sliding device is matched with a front-rear transfer guide rail of the telescopic arm, and the first power device is installed at the rear end of the beam arm.

Preferably, the output shaft of the second power device is a transmission rod connecting gear, and the second power device is arranged at the rear end of the telescopic arm.

Preferably, the gear and the lifting rack are arranged in a lifting positioning support arranged at the front end of the telescopic arm, and the lifting rack is fixed on a lifting guide rail arranged on the vertical lifting arm.

Preferably, an included angle between the first clamping jaw and the second clamping jaw is 90 degrees, and the first clamping jaw and the second clamping jaw which are arranged on the wrist joint II are material conveying execution ends.

Preferably, the second power device and the first power device are servo motors.

Preferably, the beam arm has a vertical column, a front pull rod and a rear pull rod, the vertical column is vertically arranged on the front and rear transfer guide rails, one end of the front pull rod is connected with the top of the vertical column, and the other end of the front pull rod is fixed at the front end of the front and rear transfer guide rails; one end of the rear pull rod is connected with the top of the upright post, and the other end of the rear pull rod is fixed at the rear end of the front and rear transfer guide rails.

Preferably, the telescopic boom is provided with a vertical rod, a front balancing rod and a rear balancing rod, the vertical rod is vertically arranged on the telescopic boom, one end of the front balancing rod is connected with the top of the vertical rod, and the other end of the front balancing rod is fixed at the front end of the telescopic boom; one end of the rear balancing rod is connected with the top of the vertical rod, and the other end of the rear balancing rod is fixed at the rear end of the telescopic arm.

The application provides a five-axis mechanical arm, through using power device two, rotary joint and power device one control the material and transport the operation of five-axis mechanical arm, realize that rotating base, crossbeam arm, flexible arm, vertical lift arm and execution joint carry out respective rotary motion, the front and back is transferred or is gone up and down to transfer the action in different time quantum, satisfy the transport needs that are in the material of different height during machine tool machining, and the power device two of this application, rotary joint and power device one are preferred servo motor, further improve the control accuracy of arm. The five arms are transported to material of this application has firstly effectively solved current material and has transported the problem that the operation scope exists and receive the restriction that truss arm exists, secondly provides lower price and makes the relatively simple material transport arm, has great development space in the arm trade.

Drawings

FIG. 1 is an elevation view of a five axis robotic arm of the present application;

FIG. 2 is a rear view constructional view of a five axis robotic arm of the present application;

FIG. 3 is a five-axis robot arm gear and lifting rack combination view of the present application.

Reference numerals: the device comprises a rotary base 10, a base body 11, a rotary joint 12, an output shaft 121, a beam arm 20, a front and rear transfer guide rail 21, a first power device 22, a screw rod 23, a nut bracket 24, a sliding device 25, a stand column 26, a front pull rod 27, a rear pull rod 28, a telescopic arm 30, a second power device 31, a lifting positioning bracket 32, a transmission rod 33, a gear 34, a vertical rod 35, a front balance rod 36, a rear balance rod 37, a vertical lifting arm 40, a lifting guide rail 41, a lifting rack 42, an execution joint 50, a first wrist joint 51, a second wrist joint 52, a first clamping jaw 53 and a second clamping jaw 54.

Detailed Description

Preferred embodiments of the present application will be described in detail below with reference to fig. 1-3, so that the advantages and features of the present application can be more easily understood by those skilled in the art, and the scope of protection of the present application will be clearly and clearly defined, and these embodiments are only for illustrating the present invention and are not limited thereto.

The application provides a five arms for the material transports, is particularly useful for transporting between the material of different height in machine tool machining, the relatively lower arm of cost simultaneously. The five-axis material conveying mechanical arm is provided with five axes including a rotary base 10, a cross beam arm 20, a telescopic arm 30, a vertical lifting arm 40 and an execution joint 50, wherein the rotary base 10, the cross beam arm 20, the telescopic arm 30, the vertical lifting arm 40 and the execution joint 50 execute respective rotation or front-back or lifting actions in different time periods.

The swivel base 10 includes a base body 11 and a swivel joint 12, the swivel joint 12 is attached to the base body 11, an output shaft 121 of the swivel joint 12 is fixed to a beam arm 20, and the output shaft 121 is fixed to a rear end of the beam arm 20. The output shaft 121 of the rotary joint 12 drives the beam arm 20 to perform rotary motion together with the telescopic arm 30, the vertical lift arm 40, the actuator joint 50, and the like, thereby realizing the operation of the robot arm.

A telescopic arm 30 is fixed to the beam arm 20. Specifically, a nut bracket 24 is mounted on a front-rear transfer guide rail 21 of the beam arm 20, the telescopic arm 30 is fixed on the nut bracket 24, a sliding device 25 is arranged between the nut bracket 24 and the beam arm 20 (front-rear transfer guide rail 21), and a first power device 22 mounted on the rear end of the beam arm 20 drives a screw 23 to rotate and push the nut bracket 24, so that the telescopic arm 30, the vertical lifting arm 40 and the execution joint 50 move horizontally back and forth. The screw 23 is fitted into the nut holder 24, the nut holder 24 and the screw 23 are positioned inside the telescopic arm 30, and the slide device 25 is fitted into the front and rear transfer rails 21.

The telescopic arm 30 has a lifting positioning bracket 32 at the front end thereof, a vertical lifting arm 40 is provided in the lifting positioning bracket 32, the vertical lifting arm 40 has a lifting rack 42 and a lifting guide rail 41, and the lifting rack 42 is fixed to the lifting guide rail 41. The rear end of the telescopic arm 30 is provided with a second power device 31, the second power device 31 drives a gear 34, an output shaft of the second power device 31 is a transmission rod 33, and the transmission rod 33 is connected with the gear 34. The lifting rack 42 is matched with the gear 34 and installed inside the lifting positioning bracket 32 and runs inside the lifting positioning bracket 32. The second power device 31 drives the lifting rack 42 to move up and down through the transmission rod 33 and the gear 34, so that the second power device 31 drives the vertical lifting arm 40 to perform lifting action together with the execution joint 50 arranged at the lower end, and the requirement of the mechanical arm on conveying materials with large height difference is met.

The actuator joint 50 is fixed to the elevation rail 41 or the elevation rack 42 of the vertical elevating arm 40, and the actuator joint 50 is vertically downward like the vertical elevating arm 40. The executing joint 50 is connected with a first wrist joint 51, the first wrist joint 51 is connected with a second wrist joint 52, and the second wrist joint 52 is provided with a first clamping jaw 53 and a second clamping jaw 54. The first clamping jaw 53 is in a straight line zero position state, the central line of the first clamping jaw 53 is collinear or parallel with the central line of the vertical lifting arm 40, and the central line of the second clamping jaw 54 is perpendicular to the central line of the first clamping jaw 53. In the scheme, the included angle between the first clamping jaw 53 and the second clamping jaw 54 is 90 degrees, and it is worth proposing that the included angle between the first clamping jaw 53 and the second clamping jaw 54 can be flexibly set as long as the central line of the first clamping jaw 53 is in a straight line zero position state and is collinear or parallel with the central line of the vertical lifting arm 40. The first clamping jaw 53 and the second clamping jaw 54 which are arranged on the second wrist joint 52 are material conveying execution ends.

The second power unit 31, the rotary joint 12 and the first power unit 22 are preferably servo motors.

The beam arm 20 of the mechanical arm is provided with a vertical column 26, a front pull rod 27 and a rear pull rod 28, the vertical column 26 is vertically arranged on the front and rear transfer guide rail 21, one end of the front pull rod 27 is connected with the top of the vertical column 26, and the other end is fixed at the front end of the front and rear transfer guide rail 21; the top of stand 26 is connected to back pull rod 28 one end, and the other end is fixed in the rear end of transferring guide rail 21 around, and the setting up of stand 26, preceding pull rod 27 and back pull rod 28 makes and transfers guide rail 21 rigidity around and can improve for holistic arm structure accords with the mechanics principle more when the operation, makes arm moving stability can improve.

The telescopic boom 30 is provided with a vertical rod 35, a front balance rod 36 and a rear balance rod 37, the vertical rod 35 is vertically arranged on the telescopic boom 30, one end of the front balance rod 36 is connected with the top of the vertical rod 35, and the other end of the front balance rod is fixed at the front end of the telescopic boom 30; the top of pole setting 35 is connected to back balancing pole 37 one end, and the other end is fixed in the rear end of flexible arm 30, and pole setting 35, preceding balancing pole 36 and back balancing pole 37 set up and make flexible arm 30 rigidity can strengthen for holistic arm structure accords with the mechanics principle more when the operation, makes arm moving stability can improve.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A five-axis mechanical arm is provided with a rotating base (10), a beam arm (20), a telescopic arm (30), a vertical lifting arm (40) and an execution joint (50), and is characterized in that the rotating base (10) is provided with a rotating joint (12), and an output shaft (121) of the rotating joint (12) is fixedly connected with the beam arm (20); the beam arm (20) is provided with a sliding device (25), and the vertical lifting arm (40) is fixedly provided with an execution joint (50).

2. A five axis robotic arm as claimed in claim 1, characterised in that the output shaft (121) is fixed to the rear end of a beam arm (20), the rotatable base (10) being mounted on a base body (11) provided with the robotic arm.

3. The five-axis mechanical arm as claimed in claim 1, wherein a nut bracket (24) is arranged between the sliding device (25) and the telescopic arm (30), a first power device (22) is mounted on the beam arm (20), the first power device (22) is connected with a screw rod (23), and the screw rod (23) is matched in the nut bracket (24); the telescopic arm (30) is provided with a second power device (31), the second power device (31) drives a gear (34), and the gear (34) is matched with a lifting rack (42) arranged on the vertical lifting arm (40); the sliding device (25) is matched with a front and rear transfer guide rail (21) of the telescopic arm (30), and the first power device (22) is installed at the rear end of the beam arm (20).

4. A five-axis robotic arm as claimed in claim 1, characterised in that the second power means (31) output shaft is a drive shaft 33 connected to a gear (34), the second power means (31) being provided at the rear end of the telescopic arm (30).

5. Five-axis robot arm according to claim 1, characterized in that the gear (34) and the lifting rack (42) are arranged inside a lifting positioning bracket (32) provided at the front end of the telescopic arm (30), and the lifting rack (42) is fixed on a lifting guide rail (41) provided on the vertical lifting arm (40).

6. The five-axis mechanical arm as claimed in claim 1, wherein the execution joint (50) is connected with a first wrist joint (51), the first wrist joint (51) is connected with a second wrist joint (52), and the second wrist joint (52) is provided with a first clamping jaw (53) and a second clamping jaw (54).

7. The five-axis mechanical arm as claimed in claim 6, wherein the central line of the second clamping jaw (54) is perpendicular to the central line of the first clamping jaw (53), the central line of the first clamping jaw (53) is collinear with the central line of the vertical lifting arm (40) or parallel to the included angle between the first clamping jaw (53) and the second clamping jaw (54) is 90 degrees, and the first clamping jaw (53) and the second clamping jaw (54) mounted on the wrist joint (52) are material conveying execution ends.

8. A five-axis robotic arm as claimed in claim 6, characterised in that the second power means (31) and the revolute joint (12) are preferably servo motors.

9. The five-axis mechanical arm as claimed in claim 1, wherein the beam arm (20) is provided with a vertical column (26), a front pull rod (27) and a rear pull rod (28), the vertical column (26) is vertically arranged on the front and rear transfer guide rail (21), one end of the front pull rod (27) is connected with the top of the vertical column (26), and the other end of the front pull rod (27) is fixed at the front end of the front and rear transfer guide rail (21); one end of the rear pull rod (28) is connected with the top of the upright post (26), and the other end of the rear pull rod (28) is fixed at the rear end of the front and rear transfer guide rails (21).

10. The five-axis mechanical arm as claimed in claim 1, wherein the telescopic arm (30) is provided with a vertical rod (35), a front balancing rod (36) and a rear balancing rod (37), the vertical rod (35) is vertically arranged on the telescopic arm (30), one end of the front balancing rod (36) is connected with the top of the vertical rod (35), and the other end of the front balancing rod (36) is fixed at the front end of the telescopic arm (30); one end of the rear balancing rod (37) is connected with the top of the vertical rod (35), and the other end of the rear balancing rod (37) is fixed at the rear end of the telescopic arm (30).