CN210061131U - An intelligent inspection and balance crane arm device - Google Patents

Abstract

The utility model discloses an intelligent inspection and balance hoisting arm device, which comprises a base, a moving frame, a first support plate, a second support plate and a third support plate; a first support plate is fixedly arranged above the center of the first support plate Servo motor, the output shaft of the first servo motor passes through the second support plate, and is fixedly connected to the third support plate through a coupling; a column is fixedly arranged on the third support plate, and the top of the column is fixedly connected to the fifth support plate, A fourth support plate is also arranged between the fifth support plate and the third support plate; a DC motor is fixed on the fifth support plate, and the output shaft of the DC motor passes vertically downward through the coupling and the first screw rod connected, the first screw rod passes through the fourth support plate; a mechanical arm is fixedly arranged on the fourth support plate, and the mechanical arm includes a horizontally placed beam, a grabbing device arranged at one end of the beam, and a mechanical arm arranged at the other end of the beam A counterweight device; the first screw rod passes through the beam, and a pressure sensor is arranged on the grabbing device.

Description

An intelligent inspection and balance crane arm device

technical field

The utility model belongs to the technical field of industrial automation, in particular to an intelligent inspection and balance crane mechanical arm device.

Background technique

In the industrial production line, products of different sizes often appear on the production line that require high-quality packing or palletizing, and the mechanical arm is in different working environments due to the different weights of the grasped products. uniform, so that the mechanical arm device is seriously worn, and the mechanical arm is easily deformed in the long-term working state of uneven force. Another kind of multi-layer stacking assembly line in industrial production, the motion control of the common six-degree-of-freedom manipulator in this working environment will be very cumbersome, and the work efficiency is not high.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the prior art, the utility model provides an intelligent inspection and balance hoisting mechanical arm device.

The technical scheme of the utility model is as follows: an intelligent inspection and balance hoisting arm device, comprising a base, a motion frame movable along the X direction is arranged on the base, and a first movable frame movable along the Y direction is also arranged on the motion frame a supporting plate; a second supporting plate is arranged in parallel directly above the first supporting plate, the first supporting plate and the second supporting plate are fixedly connected by screws, and a third supporting plate is arranged in parallel directly above the second supporting plate; A first servo motor is fixed above the center of the first support plate, the output shaft of the first servo motor passes through the second support plate, and is fixedly connected with the third support plate through a coupling; fixed on the third support plate There is a column, the top of the column is fixedly connected with a fifth support plate, a fourth support plate is also arranged between the fifth support plate and the third support plate; a DC motor is fixed on the fifth support plate, and the output shaft of the DC motor is vertical Straight down is connected with the first screw rod through the coupling, and the lower end of the first screw rod is connected with the third support plate through the bearing seat; the center of the lower surface of the fourth support plate is fixedly connected with a screw rod nut, and the first screw rod passes through the fourth support plate and the screw nut; a mechanical arm is fixedly arranged on the fourth support plate, and the mechanical arm includes a horizontal beam, a grabbing device arranged at one end of the beam, and a counterweight device arranged at the other end of the beam ; The first screw rod passes through the beam, and a pressure sensor is arranged on the grabbing device.

Further, a plurality of clamping wheels are fixedly arranged on the lower outer edge of the third supporting plate, each clamping wheel includes a pair of upper and lower wheels, and the upper and lower wheels clamp the upper surface and the lower surface of the second supporting plate. The lower surface; under the drive of the first servo motor, the third support plate drives the clamping wheel to rotate 360 degrees in the plane.

Further, the counterweight device includes a third stepper motor, a second screw rod, and a counterweight block, the output shaft of the third stepper motor is connected with the second screw rod through a coupling, and the second screw rod is arranged on the The threaded hole on the counterweight passes through the counterweight; the position of the counterweight on the second screw rod is driven by the third stepper motor, thereby maintaining the balance of the beam;

Further, the grabbing device includes a vertical beam, the middle of the vertical beam is fixedly connected with the horizontal beam, the end of the vertical beam is fixedly installed with a second servo motor, and the output shaft of the second servo motor is vertically downward, and is connected to it through a coupling. The lower rotating frame is fixedly connected, and the rotating frame is connected with the lower four-claw plate. The shape of each claw end of the four-claw plate is a U-shaped groove, and each U-shaped groove is hinged with a finger, and the end of the finger is provided with a palm. The pressure sensor is provided in the plane.

Further, a worm deceleration self-locking motor is also arranged inside the rotating frame, the output shaft of the worm deceleration self-locking motor is vertically downward, and the third screw rod is connected through a coupling; between the four-claw disc and the rotating frame A cross is also provided, a screw nut is fixedly connected under the center of the cross, and the third screw passes through the cross and the screw nut; a double-ended U-slot connector is hinged on each arm of the cross, and the other end of the double-ended U-slot connector is hinged. Hinged with the top of the finger, the double-ended U-slot connector is located just above each claw of the four-claw plate.

Positive and beneficial effects of the present utility model:

(1) By setting the optical axis and box-type slider in the X and Y directions, the movement in the XY plane of the mechanical arm device can be realized under the driving of the first stepping motor and the second stepping motor; The optical axis, the first screw rod, etc., can realize the lifting and lowering of the mechanical arm device along the Z direction under the drive of the DC motor;

(2) The second support plate is clamped by a plurality of clamping wheels. Driven by the first servo motor, the third support plate and the mechanical arm above it can rotate 360 degrees in the plane. movement is smooth;

(3) By setting the counterweight device, in cooperation with the pressure sensor, the distance of the counterweight block can be moved under the drive of the third stepper motor according to the different weights of the objects to be clamped, so that the robot arm can keep the balance of intelligent inspection at all times. Reduce the wear of the mechanical arm;

(4) Through the second servo motor set on the grasping device, 360-degree rotation in the plane of the fingers and the palm can be realized; through the worm deceleration self-locking motor, cross, double U-slot connector, fixed with four U-shaped grooves The mutual cooperation of the discs can realize the tightening and loosening of fingers and palms, and can realize all functions such as grasping, lifting, rotating, lowering, and loosening of items, adapting to different working environments and greatly improving work efficiency.

Description of drawings

FIG. 1 is a schematic three-dimensional structure diagram of the intelligent inspection and balance hoisting arm device of the present invention.

Fig. 2 is a schematic diagram of the partial structure of the rotating part in the third support plate surface.

Figure 3 is a schematic diagram of the structure of the counterweight device.

FIG. 4 is a schematic view of the structure of the grasping device.

Figure 5 is a schematic diagram of the structure of the four-claw disc.

Reference numerals: 1 base, 2 first stepping motor, 3 second stepping motor, 4 X-direction optical axis support base, 5 box-type slider, 6 moving frame, 7 first servo motor, 8 Y-direction optical axis Support base, 9 first support plate, 10 second support plate, 11 third support plate, 12 fourth support plate, 13 first screw rod, 14 fifth support plate, 15 DC motor, 16 third stepper motor, 161 second screw, 17 counterweight, 18 second servo motor, 19 rotating frame, 20 fingers, 21 palm, 22 four-claw disc, 221 U-shaped groove, 23 pressure sensor, 24 worm gear reduction self-locking motor, 25 third Screw, 26 crosses, 27 double U-slot connectors, 28 clamping wheels, 281 upper wheels, 282 lower wheels, 29 X-direction optical axis, 30 Y-direction optical axis, 31 Z-direction optical axis, 32 optical axis flange seat, 33 beams, 34 vertical beams, 35 screws, 36 columns, 37 linear bearings.

Detailed ways

The technical solutions of the present utility model will be further described below in conjunction with the accompanying drawings.

An intelligent inspection and balance crane arm device, as shown in FIG. 1 , includes a base 1, the base 1 is an aluminum profile frame structure, and a plurality of X-direction optical axes 29 are arranged on the base 1, and the X-direction optical axes 29 and the base 1 are arranged. Connected by the X-direction optical axis support base 4, the X-direction optical axis 29 is sleeved with a box-type slider 5, and the box-type slider is provided with a moving frame 6; the base 1 is also provided with a first step motor 2, the first The stepping motor 2 drives the moving frame 6 to move relative to the base 1 along the X direction through the synchronous belt;

The moving frame 6 is also provided with a Y-direction optical axis 30. The Y-direction optical axis 30 is connected to the moving frame 6 through the Y-direction optical axis support seat 8. The Y-direction optical axis 30 is sleeved with a box-type slider. A first support plate 9 is provided on the upper; the moving frame 6 is also provided with a second stepping motor 3, and the second stepping motor 3 drives the first supporting plate 9 along the Y direction relative to the base 1 and the moving frame 6 through the synchronous belt. sports.

As shown in FIG. 2 , a second support plate 10 is arranged in parallel directly above the first support plate 9 , and a third support plate 11 is arranged in parallel directly above the second support plate 10 ; The support plate 10 is fixedly connected by a plurality of screws 35, and a first servo motor 7 is fixed on the center of the first support plate 9. The output shaft of the first servo motor 7 passes through the second support plate 10 and passes through the coupling. Fixed connection with the third support plate 11; a plurality of clamping wheels 28 are fixedly arranged on the lower outer edge of the third supporting plate 11, four in this example, and each clamping wheel 28 includes a pair of upper wheels 281 and lower wheels 282 , the upper wheel 281 and the lower wheel 282 clamp the upper and lower surfaces of the second support plate 10; under the drive of the first servo motor 7, the third support plate 11 drives the clamping wheel to perform a 360-degree rotational movement in the plane .

As shown in FIG. 1 , a column 36 is fixedly arranged on the third support plate 11 , and the top of the column 36 is fixedly connected to the fifth support plate 14 . The optical axis flange seat 32, the Z-direction optical axis 31 is installed in the optical axis flange seat 32; the DC motor 15 is fixedly arranged on the center of the fifth support plate 14, and the output shaft of the DC motor 15 is connected to the first The screw rod 13 is connected, and the lower end of the first screw rod 13 is connected with the third support plate 11 through the bearing seat; a fourth support plate 12 is also provided between the fifth support plate 14 and the third support plate 11, and the fourth support plate The center of the lower surface of 12 is fixedly connected with a screw nut, the first screw 13 passes through the fourth support plate 12 and the screw nut, the upper surface of the fourth support plate 12 is provided with a linear bearing 37 around, and the optical axis 31 in the Z direction passes through. Through the linear bearing 37 and the fourth support plate 12 ; driven by the DC motor 15 , the fourth support plate 12 moves up and down in the Z direction along the first screw rod 13 .

A mechanical arm is provided on the fourth support plate 12, and the mechanical arm includes a horizontal beam 33, a grab device arranged at one end of the beam, and a counterweight device arranged at the other end of the beam; the counterweight device is shown in Figure 3 As shown, it includes a third stepper motor 16, a second screw rod 161, and a counterweight 17. The output shaft of the third stepper motor 16 is connected to the second screw rod connection 161 through a coupling, and the second screw rod 161 passes through The threaded holes provided on the counterweight block 17 pass through the counterweight block; the position of the counterweight block 17 on the second screw rod 161 is driven by the third stepper motor 16 to maintain the lever balance of the beam.

As shown in FIG. 1 and FIG. 4 , the grabbing device includes a vertical beam 34 , the middle of the vertical beam 34 is fixedly connected with the cross beam 33 , and the end of the vertical beam 34 is fixedly installed with the second servo motor 18 , and the second servo motor 18 is The output shaft is vertically downward, and is fixedly connected to the rotating frame 19 below it through the coupling, and the rotating frame 19 is fixedly connected to the four-claw plate 22 below by screws; the structure of the four-claw plate 22 is shown in Figure 5, each claw The shape of the end is a U-shaped groove 221, each U-shaped groove is hinged with a finger 20, the end of the finger 20 is provided with a palm 21, and a pressure sensor 23 is provided in the opposite surface of the palm 21; The locking motor 24, the output shaft of the worm deceleration self-locking motor 24 is vertically downward, and the third screw 25 is connected through a coupling; a cross 26 is also provided between the four-claw disc 22 and the rotating frame 19, and the center of the cross 26 is below. A screw nut is fixedly connected, and the third screw 25 passes through the cross 26 and the screw nut; a double-ended U-slot connector 27 is hinged on each arm of the cross 26, and the other end of the double-ended U-slot connector 27 is connected to the finger The top of 26 is hinged, and the double-headed U-groove connector 27 is located just above each claw of the four-claw plate. In this example, there are four fingers and four palms.

The device can be controlled and operated through SIMATIC S7-200 PLC, liquid crystal display, travel switch, relay, etc. The working principle is: when the start command is clicked on the LCD screen, the stepper motors 2 and 3 will be commanded, the stepper motors 2 and 3 will be powered, and the stepper motors 2 and 3 will be connected and fixed through the PU steel wire timing belt. The moving frame 6 and the first support plate 9 start to move; because the upper end of the lead screw 13 passing through the fourth support plate is fixedly connected with the DC motor 15 through the coupling, and the lower end of the lead screw 13 is connected with the bearing, so the fourth support plate The robot arm on it can easily move in the Z-axis direction; the stepping motors 2 and 3 are provided with a step angle, which can be determined by adjusting the DIP switch above. The stepping motors 2 and 3 rotate several times, How many degrees, so that the displacement of the moving frame 6 and the first support plate 9 can be controlled to achieve precise control; since the mechanical gripper is set to four fingers, we installed a pressure sensor in the middle of the corresponding two sides respectively, and collected the data collected by the pressure sensor. After the information is processed and analyzed by the PLC, how many turns should the worm decelerate and self-lock motor 24 rotate, and the stepper motor 16 will also give instructions at the same time. The screw nut is connected with the counterweight 17 . The second servo motor 18 can drive the fingers to rotate to adapt to the shape of the goods, and the counterweight 17 will be quickly and accurately pushed to the designated position when the goods are grasped. When the heavy object is caught, the DC motor 15 starts to work and drives the first screw rod 13 to rotate while making the fourth support plate 12 rise rapidly. When the fourth support plate 12 touches the travel switch, the DC motor 15 stops working. The first servo motor 7 starts to work so that the third support plate 11 starts to rotate, and stops when it reaches a certain angle. The DC motor 15 starts to work so that the fourth support plate 12 begins to descend, and stops descending when the descending height reaches the specified value. The principles of the grabbing and storage steps are as described above, which can be fully understood by those skilled in the art.

The utility model can greatly improve the work efficiency and work quality of product packing in industrial production, and can effectively reduce the self-wear phenomenon of the mechanical arm caused by uneven force in the work through the intelligent inspection and balance device. The largest working radius and the smallest interference radius, the working range is large, and it provides greater flexibility in system design; it can work in different grasping environments at the same time, and the counterweight mechanism of the robotic arm can accurately and quickly balance Judging and executing the counterweight, it can effectively solve the problems of product packing quality and product stacking efficiency in industrial production.

Claims (5)

1. An intelligent inspection and balance hoisting mechanical arm device is characterized in that: comprising a base, a motion frame that can move along the X direction is provided on the base, and a first support plate that can move along the Y direction is also provided on the motion frame. A second support plate is arranged in parallel directly above the first support plate, the first support plate and the second support plate are fixedly connected by screws, and a third support plate is arranged in parallel directly above the second support plate; A first servo motor is fixed above the center of the support plate, the output shaft of the first servo motor passes through the second support plate, and is fixedly connected with the third support plate through a coupling; a column is fixed on the third support plate , the top of the column is fixedly connected to the fifth support plate, and a fourth support plate is also arranged between the fifth support plate and the third support plate; a DC motor is fixed on the fifth support plate, and the output shaft of the DC motor is vertically The bottom is connected with the first screw rod through the coupling, and the lower end of the first screw rod is connected with the third support plate through the bearing seat; the center of the lower surface of the fourth support plate is fixedly connected with a screw rod nut, and the first screw rod passes through the third support plate. Four supporting plates and screw nuts; a mechanical arm is fixedly arranged on the fourth supporting plate, and the mechanical arm includes a horizontally placed beam, a grabbing device arranged at one end of the beam, and a counterweight device arranged at the other end of the beam; A wire rod passes through the beam, and a pressure sensor is provided on the gripping device. 2 . The intelligent inspection and balance hoisting robotic arm device according to claim 1 , wherein a plurality of clamping wheels are fixedly arranged on the lower outer edge of the third support plate, and each clamping wheel includes a pair of clamping wheels. 3 . The upper wheel and the lower wheel clamp the upper and lower surfaces of the second support plate; the third support plate drives the clamping wheel to rotate 360 degrees in the plane under the drive of the first servo motor . 3 . The intelligent inspection and balance hoisting robotic arm device according to claim 1 , wherein the counterweight device comprises a third stepper motor, a second screw rod, a counterweight block, and a third stepper motor. 4 . The output shaft is connected with the second screw rod through a coupling, and the second screw rod passes through the counterweight block through the threaded hole provided on the counterweight block; the third stepper motor drives the counterweight block on the second screw rod position to maintain the balance of the beam. 4 . The intelligent inspection and balance hoisting robotic arm device according to claim 1 , wherein the grabbing device comprises a vertical beam, the middle part of the vertical beam is fixedly connected with the horizontal beam, and the end of the vertical beam is fixedly installed with a first Two servo motors, the output shaft of the second servo motor is vertically downward, and is fixedly connected with the rotating frame below through the coupling, and the rotating frame is connected with the four-claw plate below, and the end shape of each claw of the four-claw plate is U-shaped Each U-shaped groove is hinged with a finger, the end of the finger is provided with a palm, and the pressure sensor is provided in the opposite face of the palm. 5 . The intelligent inspection and balance hoisting mechanical arm device according to claim 4 , wherein a worm deceleration self-locking motor is also arranged inside the rotating frame, and the output shaft of the worm deceleration self-locking motor is vertically oriented 5 . Connect the third screw rod through the coupling; a cross is also set between the four-claw disc and the rotating frame, a screw nut is fixedly connected under the center of the cross, and the third screw rod passes through the cross and the screw nut; A double-ended U-slot connector is hinged on each arm, the other end of the double-ended U-slot connector is hinged with the top of the finger, and the double-ended U-slot connector is located just above each claw of the four-claw plate.

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