CN209919890U

CN209919890U - Machining manipulator

Info

Publication number: CN209919890U
Application number: CN201920594342.9U
Authority: CN
Inventors: 康献民; 余宏志; 王建生; 植美浃; 钟祺彬; 殷固密
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2019-04-26
Filing date: 2019-04-26
Publication date: 2020-01-10
Anticipated expiration: 2029-04-26

Abstract

The embodiment of the utility model discloses a processing manipulator, including base, first rocking arm, second swing arm and third rocking arm, first rocking arm rotation is connected on the base, first rocking arm, third rocking arm are connected respectively to the both ends of second swing arm, the second swing arm is connected in first rocking arm through a swing arm axle, the swing arm axle is mutually perpendicular with the rotation axis of first rocking arm, first rocking arm transmission is connected with first motor, second swing arm transmission is connected with the second motor, third rocking arm transmission is connected with the third motor; the first rotating arm, the second swing arm and the third rotating arm are respectively connected with a brake assembly to realize braking and locking, the brake assembly comprises a disc and a brake, the disc is fixedly connected to the first rotating arm, the second swing arm and the third rotating arm, and the corresponding brake is fixedly connected to the base, the first rotating arm and the second swing arm. The mechanical arm has high rigidity of the whole structure, basically eliminates shaking, is beneficial to improving the surface processing quality of the water faucet and other workpieces, reduces processing errors and has good processing curved surface smoothness.

Description

Machining manipulator

Technical Field

The utility model relates to a processing equipment field specifically is a processing machinery hand.

Background

Along with the development of the technology, processing equipment is more and more automated, wherein the processing requirement for surface processing such as water taps is higher and higher, because the aesthetic requirement that people are constantly improved needs to be met, the material and the appearance design of the water tap are constantly innovated, the processing (such as peeling, grinding, polishing and the like) of various shapes and curved surfaces of the water tap surface brings great difficulty to the existing cross beam type industrial processing center, the water tap is clamped and processed by adopting a six-axis mechanical arm generally, but in the processing process, the six-axis mechanical arm can generate serious shaking phenomenon, the surface polishing of the water tap is uneven, the processing error is large, the smoothness of the processed curved surface is not enough, the processing efficiency is low, the yield is not high and the like, and the efficient special processing mechanical arm is urgently developed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve one of the technical problem that exists among the prior art at least, provide a processing machinery hand, be favorable to improving tap processingquality and product uniformity, reduce cost.

The embodiment of the utility model provides a solve the technical scheme that its technical problem adopted and be:

the machining manipulator comprises a base, a first rotating arm, a second swinging arm and a third rotating arm, wherein the first rotating arm is rotatably connected to the base, two ends of the second swinging arm are respectively connected with the first rotating arm and the third rotating arm, the second swinging arm is connected to the first rotating arm through a swinging arm shaft, the swinging arm shaft is perpendicular to the rotation axis of the first rotating arm, the first rotating arm is in gear transmission connection with a first motor, the second swinging arm is in gear transmission connection with a second motor, and the third gear rotating arm is in gear transmission connection with a third motor; the first rocking arm the second swing arm and the third rocking arm is connected with the floodgate subassembly of stopping respectively in order to realize the brake and lock, the floodgate subassembly of stopping is including disc and floodgate are stopped, and is three disc fixed connection respectively in first rocking arm the second swing arm the third rocking arm, corresponding three the floodgate is stopped respectively fixed connection in the base first rocking arm the second swing arm.

As an improvement of the technical scheme, the brake is provided with two opposite clamping blocks for clamping the disc, the two opposite clamping blocks are driven by hydraulic pressure, and each brake is connected with an air-oil conversion supercharger.

As a further improvement of the above technical solution, one end of the first rotating arm connected to the base is connected to the first motor through a synchronous belt drive.

In a further improvement, a second rotating shaft is arranged in the first rotating arm, and one end of the second rotating shaft, which corresponds to the base, is in transmission connection with the second motor through a synchronous belt; and a second bevel gear is arranged at the other end of the second rotating shaft, and a second auxiliary bevel gear meshed with the second bevel gear is connected to the second swing arm.

In a further improvement, a third rotating shaft is arranged in the second rotating shaft, and one end of the third rotating shaft, which corresponds to the base, is in transmission connection with the third motor through a synchronous belt; the other end of the third rotating shaft is provided with a third bevel gear, the third bevel gear is meshed with a third auxiliary bevel gear, the third auxiliary bevel gear is coaxially connected with a first transmission gear, the first transmission gear is meshed with a second transmission gear, the second transmission gear is coaxially connected with a fourth bevel gear, and a third rotating arm is provided with a fourth auxiliary bevel gear meshed with the fourth bevel gear.

The improved structure is characterized in that the second swing arm is of a U-shaped structure, an opening is connected with the swing arm shaft, and the first transmission gear and the second transmission gear are connected to the same side of the second swing arm.

In a further improvement, the base is square, the first rotating arm, the first motor, the second motor and the third motor are all arranged on the upper end face of the base, and the first motor, the second motor and the third motor are all inverted and arranged in a row.

In a further improvement, a clamp for clamping a workpiece is connected to the third rotating arm.

One of the above technical solutions has at least the following beneficial effects: processing machinery hand has first rocking arm, second swing arm and third rocking arm, can drive machined parts such as water taps and realize the multi-angle, the surface machining of many gestures, first rocking arm, second swing arm and third rocking arm are connected with the floodgate subassembly of stopping respectively in order to realize the brake and lock, ensure first rocking arm, second swing arm and third rocking arm overall structure rigidity are high, basically eliminate the shake, the position of processing work piece is stable in the course of working, be favorable to improving the surface machining quality of machined parts such as water taps, reduce machining error, processing curved surface smoothness is good, be favorable to improving machining efficiency and improve the yields, and the cost is reduced.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic structural diagram of an embodiment of the present invention;

fig. 2 is a right side view of an embodiment of the present invention;

fig. 3 is a front view of an embodiment of the present invention;

fig. 4 is a top view of an embodiment of the present invention;

fig. 5 is a schematic diagram of the internal transmission according to the embodiment of the present invention.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 to 4, the present invention provides a processing manipulator, including a base 100, a first rotating arm 200, a second swinging arm 300 and a third rotating arm 400, wherein the first rotating arm 200 is rotatably connected to the base 100, two ends of the second swinging arm 300 are respectively connected to the first rotating arm 200 and the third rotating arm 400, the second swinging arm 300 is connected to the first rotating arm 200 through a swinging arm shaft, the swinging arm shaft is perpendicular to a rotation axis of the first rotating arm 200, the first rotating arm 200 is in transmission connection with a first motor 210, the second swinging arm 300 is in transmission connection with a second motor 310, and the third swinging arm 400 is in transmission connection with a third motor 410; first rocking arm 200, second swing arm 300 and third rocking arm 400 is connected with the brake subassembly respectively and is in order to realize the brake and lock, the brake subassembly is including disc 510 and brake 520, disc 510 fixed connection in first rocking arm 200, second swing arm 300 the third rocking arm 400, it is corresponding brake 520 fixed connection in base 100 first rocking arm 200 the second swing arm 300. By adopting the structure, the first motor 210, the second motor 310 and the third motor 410 are used as power sources to respectively drive the first rotating arm 200, the second swinging arm 300 and the third rotating arm 400 to move, so that workpieces such as a water tap and the like can be driven to realize multi-angle and multi-posture surface processing; utilize the floodgate subassembly of stopping to realize braking and locking, guarantee first rocking arm 200, second swing arm 300 and third rocking arm 400 overall structure rigidity height, eliminate the shake basically, the position of processing work piece is stable in the course of working, is favorable to improving the surface finish quality of machined parts such as water taps, reduces machining error, and processing curved surface smoothness is good, is favorable to improving machining efficiency and improves the yields, reduce cost.

In some embodiments, it is preferable that the brake 520 is provided with two pairs of clamping blocks 521 for clamping the disc 510, the two pairs of clamping blocks 521 are hydraulically driven, and each brake 520 is connected with an empty oil conversion pressure booster 600. The output power of the air-oil conversion supercharger 600 is used for driving the two clamping discs 510 of the clamping block 521 to realize braking and locking, and the air-oil conversion supercharger 600 is compact and small in structure and is beneficial to reducing the size of a manipulator. Of course, the two pairs of clamping blocks 521 can also adopt other power, such as electromagnetic drive, motor drive and the like, and can be selected according to actual conditions.

Referring to fig. 5, in some embodiments, preferably, one end of the first rotating arm 200 connected to the base 100 is connected to the first motor 210 through a synchronous belt transmission, and the first motor 210 drives the first rotating arm 200 to rotate through the synchronous belt, so as to serve as a first degree of freedom of the robot.

Referring to fig. 5, preferably, a second rotating shaft is arranged in the first rotating arm 200, and one end of the second rotating shaft, which corresponds to the base 100, is connected to the second motor 310 through a synchronous belt; a second bevel gear 330 is arranged at the other end of the second rotating shaft, and a second secondary bevel gear 340 meshed with the second bevel gear 330 is connected to the second swing arm 300. The second motor 310 drives the second rotating shaft to rotate through a synchronous belt, and the second rotating shaft drives the second swing arm 300 to swing through a second bevel gear 330 and a second secondary bevel gear 340 which are meshed with each other, so as to serve as a second degree of freedom of the manipulator.

Referring to fig. 5, preferably, a third rotating shaft is disposed in the second rotating shaft, and one end of the third rotating shaft, which corresponds to the base 100, is connected to the third motor 410 through a synchronous belt; the other end of the third rotating shaft is provided with a third bevel gear 430, the third bevel gear 430 is engaged with a third secondary bevel gear 440, the third secondary bevel gear 440 is coaxially connected with a first transmission gear 450, the first transmission gear 450 is engaged with a second transmission gear 460, the second transmission gear 460 is coaxially connected with a fourth bevel gear 470, and the third rotating arm 400 is provided with a fourth secondary bevel gear 480 engaged with the fourth bevel gear 470. The third motor 410 drives the third rotating shaft to rotate through a synchronous belt, and the third rotating shaft finally drives the third rotating arm 400 to rotate through the transmission of a third bevel gear 430, a third secondary bevel gear 440, a first transmission gear 450, a second transmission gear 460, a fourth bevel gear 470 and a fourth secondary bevel gear 480, so as to serve as a second-stage degree of freedom of the manipulator. By adopting the transmission structure, the manipulator has the advantages of compact structure, reduced volume and convenient arrangement.

Referring to fig. 5, preferably, the second swing arm 300 is a U-shaped structure, the opening is connected to the swing arm shaft, the first transmission gear 450 and the second transmission gear 460 are connected to the same side of the second swing arm 300, and the third bevel gear 440 and the fourth bevel gear 470 are arranged inside the U-shaped structure relative to the first transmission gear 450 and the second transmission gear 460, so that the structure is compact and the size is reduced.

Referring to fig. 1, in some embodiments, preferably, the base 100 is square, the first rotating arm 200, the first motor 210, the second motor 310 and the third motor 410 are all arranged on the upper end surface of the base 100, the first motor 210, the second motor 310 and the third motor 410 are all inverted and arranged in a row, and a timing belt is arranged inside the base 100, which, in cooperation with the above-mentioned gear transmission structure, helps to reduce the volume of the robot and is convenient to arrange and use.

Referring to fig. 1, in some embodiments, a clamp 700 for clamping a workpiece is preferably connected to the third rotating arm 400. The clamp 700 is selected according to a workpiece to be clamped, and is detachably connected to the third rotating arm 400, so that the clamp is convenient and easy to use.

The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the above embodiments, and the technical effects of the present invention should fall within the protection scope of the present invention as long as the technical effects are achieved by any of the same or similar means.

Claims

1. A processing manipulator which is characterized in that: the swing mechanism comprises a base (100), a first rotating arm (200), a second swing arm (300) and a third rotating arm (400), wherein the first rotating arm (200) is rotatably connected to the base (100), two ends of the second swing arm (300) are respectively connected with the first rotating arm (200) and the third rotating arm (400), the second swing arm (300) is connected to the first rotating arm (200) through a swing arm shaft, the swing arm shaft is perpendicular to the rotation axis of the first rotating arm (200), the first rotating arm (200) is in transmission connection with a first motor (210), the second swing arm (300) is in transmission connection with a second motor (310), and the third rotating arm (400) is in transmission connection with a third motor (410); first rocking arm (200), second swing arm (300) and third rocking arm (400) are connected with the brake subassembly respectively and are stopped in order to realize the brake and lock, the brake subassembly is including disc (510) and brake (520), disc (510) fixed connection in first rocking arm (200), second swing arm (300) third rocking arm (400), it is corresponding brake (520) fixed connection in base (100), first rocking arm (200) second swing arm (300).

2. A processing robot as claimed in claim 1, characterized in that: the brake (520) is provided with two opposite clamping blocks (521) for clamping the disc (510), the two opposite clamping blocks (521) are driven by hydraulic pressure, and each brake (520) is connected with an air-oil conversion supercharger (600).

3. A processing robot as claimed in claim 1, characterized in that: one end of the first rotating arm (200) connected with the base (100) is connected with the first motor (210) through synchronous belt transmission.

4. A processing robot as claimed in claim 3, characterized in that: a second rotating shaft is arranged in the first rotating arm (200), and one end of the second rotating shaft, which corresponds to the base (100), is in transmission connection with the second motor (310) through a synchronous belt; the other end of the second rotating shaft is provided with a second bevel gear (330), and a second auxiliary bevel gear (340) meshed with the second bevel gear (330) is connected to the second swing arm (300).

5. A processing robot as claimed in claim 4, characterized in that: a third rotating shaft is arranged in the second rotating shaft, and one end of the third rotating shaft, which corresponds to the base (100), is in transmission connection with the third motor (410) through a synchronous belt; the other end of the third rotating shaft is provided with a third bevel gear (430), the third bevel gear (430) is meshed with a third auxiliary bevel gear (440), the third auxiliary bevel gear (440) is coaxially connected with a first transmission gear (450), the first transmission gear (450) is meshed with a second transmission gear (460), the second transmission gear (460) is coaxially connected with a fourth bevel gear (470), and the third rotating arm (400) is provided with a fourth auxiliary bevel gear (480) meshed with the fourth bevel gear (470).

6. A processing robot as claimed in claim 5, characterized in that: the second swing arm (300) is of a U-shaped structure, an opening is connected with the swing arm shaft, and the first transmission gear (450) and the second transmission gear (460) are connected to the same side of the second swing arm (300).

7. A processing robot as claimed in claim 1, characterized in that: the base (100) is square, the first rotating arm (200), the first motor (210), the second motor (310) and the third motor (410) are all arranged on the upper end face of the base (100), and the first motor (210), the second motor (310) and the third motor (410) are all inverted and arranged in a row.

8. A processing robot as claimed in claim 1, characterized in that: and the third rotating arm (400) is connected with a clamp (700) for clamping a workpiece.