CN211220694U

CN211220694U - Triaxial arm structure with adjustable go up and down

Info

Publication number: CN211220694U
Application number: CN201922236705.4U
Authority: CN
Inventors: 代华成
Original assignee: Xuzhou Hai Deli Industrial Machinery Co ltd
Current assignee: Xuzhou Hai Deli Industrial Machinery Co ltd
Priority date: 2019-12-13
Filing date: 2019-12-13
Publication date: 2020-08-11
Anticipated expiration: 2029-12-13

Abstract

A lifting adjustable three-shaft mechanical arm structure belongs to the technical field of advanced manufacturing and automation, and comprises a lifting assembly, a moving assembly and a three-shaft mechanical arm; the lifting assembly comprises a hydraulic oil cylinder, a hydraulic oil cylinder mounting plate, a gantry frame body, a lower base, two symmetrically arranged slide rails, a vertical lifting sliding plate, a vertical lifting adapter, a vertical lifting support plate and a horizontal moving assembly. Triaxial arm structure with adjustable go up and down, can make the triaxial arm reciprocate through lifting unit, still be equipped with the horizontal migration subassembly simultaneously for can follow the horizontal direction and remove when the vertical direction of triaxial arm goes up and down, the working range of arm has been increased, and then the work efficiency of arm has been improved, the use value of arm has also been increased, triaxial arm operation panel height just can highly flush with the assembly line, the adaptability of triaxial arm has been improved greatly, use manpower sparingly, material resources.

Description

Triaxial arm structure with adjustable go up and down

Technical Field

The utility model belongs to the technical field of advance manufacturing and automation, specifically, relate to a triaxial arm structure with adjustable go up and down.

Background

In modern industry, mechanization, automation of the production process has become a prominent topic; the automation of continuous production processes such as chemical engineering and the like is basically solved; in the mechanical industry, however, the production of machining, assembly, etc. is discontinuous; a large amount of operations such as loading, unloading, carrying, assembling and the like are required to be further mechanized; the industrial robot is mainly used for the aspects of loading, unloading, carrying, welding, casting and forging, heat treatment and the like, and the requirements of industrial production development cannot be met no matter the quantity, the variety and the performance; the industrial robot is used for replacing manual operation, and is mainly used in environments which are not suitable for manual operation, such as dangerous operation, dustiness, high temperature, noise, narrow working space and the like; in short, robots replace human hands by robots to move a workpiece from a certain place to a designated working position or to manipulate the workpiece for machining according to working requirements.

With the increasing maturity of the robot technology, the development of the mechanical arm is also different day by day, and the variety is also various, so that the application range of the mechanical arm becomes wider, but some troubles still can be encountered in the use process of some mechanical arms, and the normal use of the mechanical arm is influenced.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: the utility model aims at providing a triaxial arm structure with adjustable go up and down has solved the working height of arm among the prior art rigid to can restrict the problem of arm working range, consequently provide a lift arm, so as to solve foretell problem.

The technical scheme is as follows: the utility model provides a lifting-adjustable triaxial mechanical arm structure, which comprises a lifting component, a moving component and a triaxial mechanical arm, wherein the moving component is fixedly arranged on the lifting component, and the triaxial mechanical arm is fixedly arranged on the moving component; wherein the lifting component comprises a hydraulic oil cylinder, a hydraulic oil cylinder mounting plate, a gantry frame body, a lower base, two symmetrically arranged slide rails, a vertical lifting sliding plate, a vertical lifting adapter, a vertical lifting support plate and a horizontal moving component, the two symmetrically arranged slide rails are fixedly arranged on the upper end surface of the lower base, the gantry frame body is connected with the two symmetrically arranged slide rails through the horizontal moving component, the hydraulic oil cylinder mounting plate is fixedly arranged on a cross beam of the gantry frame body, the hydraulic oil cylinder is fixedly arranged on the hydraulic oil cylinder mounting plate, a piston rod of the hydraulic oil cylinder is hinged with the vertical lifting adapter, the vertical lifting adapter is fixedly arranged on a vertical surface of the vertical lifting sliding plate, the vertical lifting sliding plate is connected with the gantry frame body in a sliding manner, the vertical lifting support plate is fixedly arranged on the end surface of the vertical lifting sliding plate far away from the, the vertical lifting support plate is horizontally arranged, and the moving assembly is fixedly arranged on the upper end face of the vertical lifting support plate.

Furthermore, in the above three-axis mechanical arm structure with adjustable lifting, the horizontal movement assembly includes a first driving motor, a rack, a gear and a driving motor mounting plate, the rack is fixedly disposed on one of two symmetrically disposed slide rails, the driving motor mounting plate is fixedly disposed on a side wall of a lower end portion of the gantry frame body, the first driving motor is fixedly disposed on the driving motor mounting plate, a rotating shaft of the first driving motor is connected with the gear, the gear is engaged with the rack, a set of rollers is disposed on a lower end face of the gantry frame body, the set of rollers is disposed in the slide rails, and the set of rollers can move in the slide rails.

Furthermore, according to the lifting-adjustable three-axis mechanical arm structure, the two side walls of the vertical lifting sliding plate, which are close to the gantry frame body stand column, are provided with the guide sliding blocks, the gantry frame body stand column is provided with the first sliding groove, and the guide sliding blocks are arranged in the first sliding groove. The stability that vertical lift slide removed along vertical direction has been improved through the direction slider that sets up.

Further, foretell triaxial arm structure with adjustable lift, it includes driving motor two, lead screw supporting seat, slider one, slide one, backup pad one and biax moving platform to remove the subassembly, driving motor two's pivot and lead screw are connected, the lead screw sets up on the lead screw supporting seat, slider one and slide one set are established on the lead screw, backup pad one is fixed to be set up on the up end of slider one and slide one, biax moving platform is fixed to be set up in backup pad one.

Further, foretell adjustable triaxial arm structure goes up and down, biax moving platform includes linear module one, guide rail one, slider two, backup pad two, linear module two, guide rail two, slider three and backup pad three, linear module one and guide rail parallel arrangement are in backup pad one, slider two and guide rail sliding connection, backup pad two sets up on linear module one and slider two, linear module two and guide rail two parallel arrangement are in backup pad two, slider three and guide rail two sliding connection, backup pad three sets up on linear module two and slider three, the fixed up end that sets up in backup pad three of triaxial arm.

Furthermore, foretell triaxial arm structure with adjustable go up and down, the removal subassembly still includes rectangle braced frame, rectangle braced frame is equipped with horizontal support beam along length direction's intermediate position, driving motor two and the fixed setting of lead screw supporting seat are on horizontal support beam. The rectangular supporting frame and the horizontal supporting beam play a role in stable support.

Furthermore, foretell triaxial arm structure with adjustable go up and down, rectangular braced frame's two are equipped with the guide post on relative limit, the guide post is located the both sides of lead screw, the slide is established on the guide post by one set. The guide post improves the stability of a slide removal, avoids the skew.

Furthermore, in the lifting-adjustable three-axis mechanical arm structure, two opposite edges of the rectangular supporting frame are further provided with a second sliding groove, the lower end part of the first sliding plate is provided with a fourth sliding block, and the fourth sliding block is connected with the second sliding groove in a sliding manner.

Furthermore, foretell triaxial arm structure with adjustable goes up and down, the longmen support body includes portal frame body, deep floor and horizontally connect board, the horizontally connect board level sets up the lower tip at the portal frame body, deep floor sets up between the lateral wall of portal frame body and horizontally connect board, the driving motor mounting panel sets up on deep floor, the hydraulic cylinder mounting panel sets up on the crossbeam of portal frame body upper end, the stand sliding connection of vertical lift slide and portal frame body.

Above-mentioned technical scheme can find out, the utility model discloses following beneficial effect has: triaxial arm structure with adjustable go up and down, can make the triaxial arm reciprocate through lifting unit, still be equipped with the horizontal migration subassembly simultaneously, can follow the horizontal direction and remove when making the vertical direction of triaxial arm go up and down, the working range of arm has been increased, and then the work efficiency of arm has been improved, the use value of arm has also been increased, still be equipped with the removal subassembly in addition, make the triaxial arm can remove wantonly in the plane scope of locating, the flexibility that the triaxial arm removed has been improved, triaxial arm operation panel height just can highly flush with the assembly line, the adaptability of triaxial arm has been improved greatly, use manpower sparingly, material resources.

Drawings

Fig. 1 is a schematic structural view of a lifting adjustable three-axis mechanical arm structure of the present invention;

fig. 2 is a schematic view of a partial structure of the lifting adjustable three-axis mechanical arm structure of the present invention;

fig. 3 is a schematic structural diagram of the moving assembly of the present invention;

fig. 4 is a first top view of the moving assembly of the present invention;

fig. 5 is a second top view of the moving assembly of the present invention;

fig. 6 is a schematic structural diagram of the dual-axis mobile platform of the present invention.

In the figure: the lifting assembly 1, the hydraulic oil cylinder 11, the hydraulic oil cylinder mounting plate 12, the gantry frame body 13, the roller 131, the first sliding chute 132, the gantry frame body 133, the reinforcing rib plate 134, the horizontal connecting plate 135, the lower base 14, the sliding rail 15, the vertical lifting sliding plate 16, the guide sliding block 161, the vertical lifting adapter 17, the vertical lifting supporting plate 18, the horizontal moving assembly 19, the first driving motor 191, the rack 192, the gear 193, the driving motor mounting plate 194 and the moving assembly 2, the device comprises a second driving motor 21, a screw rod 22, a screw rod supporting seat 23, a first sliding block 24, a first sliding plate 25, a fourth sliding block 251, a first supporting plate 26, a double-shaft moving platform 27, a first linear module 271, a first guide rail 272, a second sliding block 273, a second supporting plate 274, a second linear module 275, a second guide rail 276, a third sliding block 277, a third supporting plate 278, a rectangular supporting frame 28, a guide column 281, a second sliding groove 282, a horizontal supporting beam 29 and a three-shaft mechanical arm 3.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Examples

The lifting-adjustable three-axis mechanical arm structure shown in fig. 1 and 2 comprises a lifting assembly 1, a moving assembly 2 and a three-axis mechanical arm 3, wherein the moving assembly 2 is fixedly arranged on the lifting assembly 1, and the three-axis mechanical arm 3 is fixedly arranged on the moving assembly 2; wherein, the lifting component 1 comprises a hydraulic oil cylinder 11, a hydraulic oil cylinder mounting plate 12, a gantry frame body 13, a lower base 14, two symmetrically arranged slide rails 15, a vertical lifting sliding plate 16, a vertical lifting adapter 17, a vertical lifting support plate 18 and a horizontal moving component 19, the two symmetrically arranged slide rails 15 are fixedly arranged on the upper end surface of the lower base 14, the gantry frame body 13 is connected with the two symmetrically arranged slide rails 15 through the horizontal moving component 19, the hydraulic oil cylinder mounting plate 12 is fixedly arranged on a cross beam of the gantry frame body 13, the hydraulic oil cylinder 11 is fixedly arranged on the hydraulic oil cylinder mounting plate 12, a piston rod of the hydraulic oil cylinder 11 is hinged with the vertical lifting adapter 17, the vertical lifting adapter 17 is fixedly arranged on a vertical surface of the vertical lifting sliding plate 16, and the vertical lifting sliding plate 16 is connected with the gantry frame body 13 in a sliding manner, the vertical lifting support plate 18 is fixedly arranged on the end face, far away from the vertical lifting adapter 17, of the vertical lifting sliding plate 16, the vertical lifting support plate 18 is horizontally arranged, and the moving assembly 2 is fixedly arranged on the upper end face of the vertical lifting support plate 18. In addition, the horizontal movement assembly 19 comprises a first driving motor 191, a rack 192, a gear 193 and a driving motor mounting plate 194, the rack 192 is fixedly arranged on one of the two symmetrically arranged slide rails 15, the driving motor mounting plate 194 is fixedly arranged on the side wall of the lower end part of the gantry body 13, the first driving motor 191 is fixedly arranged on the driving motor mounting plate 194, the rotating shaft of the first driving motor 191 is connected with the gear 193, the gear 193 is meshed with the rack 192, a group of rollers 131 are arranged on the lower end surface of the gantry body 13, the group of rollers 131 are arranged in the slide rails 15, and the group of rollers 131 can move in the slide rails 15. In addition, two side walls of the vertical lifting sliding plate 16 close to the upright post of the gantry frame body 13 are provided with guide sliding blocks 161, the upright post of the gantry frame body 13 is provided with a first sliding groove 132, and the guide sliding blocks 161 are arranged in the first sliding groove 132. In the above structure, the gantry frame body 13 includes a gantry frame body 133, a reinforcing rib plate 134 and a horizontal connecting plate 135, the horizontal connecting plate 135 is horizontally arranged at the lower end portion of the gantry frame body 133, the reinforcing rib plate 134 is arranged between the side wall of the gantry frame body 133 and the horizontal connecting plate 135, the driving motor mounting plate 194 is arranged on the reinforcing rib plate 134, the hydraulic oil cylinder mounting plate 12 is arranged on a cross beam at the upper end of the gantry frame body 133, and the vertical lifting slide plate 16 is slidably connected with the upright post of the gantry frame body 133. The principle of the vertical lifting is as follows: the piston rod of the hydraulic oil cylinder 11 extends out or retracts to drive the vertical lifting sliding plate 16 to move along the vertical direction of the gantry frame body 13, so that the vertical lifting support plate 18 is lifted, and the moving assembly 2 is lifted and lowered as the moving assembly 2 is arranged on the vertical lifting support plate 18, so that the three-axis mechanical arm 3 arranged on the moving assembly 2 is lifted and lowered. The principle of the horizontal movement is as follows: the first driving motor 191 drives the gear 193 to rotate, and the gear 193 moves along the rack 192 due to the meshing of the gear 193 and the rack 192, so that the gantry frame body 13 is driven to move in the horizontal direction. Through the structure, not only can the vertical lifting of the three-axis mechanical arm 3 be carried out, but also the horizontal movement of the three-axis mechanical arm 3 can be carried out.

The moving assembly 2 shown in fig. 3-5 includes a second driving motor 21, a screw rod 22, a screw rod support seat 23, a first slider 24, a first sliding plate 25, a first support plate 26 and a double-shaft moving platform 27, wherein a rotating shaft of the second driving motor 21 is connected with the screw rod 22, the screw rod 22 is arranged on the screw rod support seat 23, the first slider 24 and the first sliding plate 25 are sleeved on the screw rod 22, the first support plate 26 is fixedly arranged on the upper end surfaces of the first slider 24 and the first sliding plate 25, and the double-shaft moving platform 27 is fixedly arranged on the first support plate 26. The moving assembly 2 further comprises a rectangular supporting frame 28, a horizontal supporting beam 29 is arranged in the middle of the rectangular supporting frame 28 along the length direction, and the second driving motor 21 and the lead screw supporting seat 23 are fixedly arranged on the horizontal supporting beam 29. Two opposite sides of the rectangular supporting frame 28 are provided with guide posts 281, the guide posts 281 are positioned at two sides of the screw rod 22, and the first sliding plate 25 is sleeved on the guide posts 281. Two opposite edges of the rectangular supporting frame 28 are also provided with a second sliding groove 282, the lower end part of the first sliding plate 25 is provided with a fourth sliding block 251, and the fourth sliding block 251 is in sliding connection with the second sliding groove 282.

The biaxial moving platform 27 shown in fig. 6 includes a first linear module 271, a first guide rail 272, a second slide block 273, a second support plate 274, a second linear module 275, a second guide rail 276, a third slide block 277, and a third support plate 278, the first linear module 271 and the first guide rail 272 are disposed in parallel on the first support plate 26, the second slide block 273 is slidably connected with the first guide rail 272, the second support plate 274 is disposed on the first linear module 271 and the second slide block 273, the second linear module 275 and the second guide rail 276 are disposed in parallel on the second support plate 274, the third slide block 277 is slidably connected with the second guide rail 276, the third support plate 278 is disposed on the second linear module 275 and the third slide block 277, and the three-axis robot arm 3 is fixedly disposed on an upper end surface of the third support plate 278. The moving direction of the first linear module 271 and the moving direction of the second linear module 275 are perpendicular to each other, and the three-axis robot 3 can be driven to move randomly in the horizontal plane range through the first linear module 271 and the second linear module 275.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications can be made without departing from the principles of the present invention, and these modifications should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a triaxial arm structure with adjustable go up and down which characterized in that: the mechanical arm device comprises a lifting assembly (1), a moving assembly (2) and a three-axis mechanical arm (3), wherein the moving assembly (2) is fixedly arranged on the lifting assembly (1), and the three-axis mechanical arm (3) is fixedly arranged on the moving assembly (2);

wherein, the lifting component (1) comprises a hydraulic oil cylinder (11), a hydraulic oil cylinder mounting plate (12), a gantry frame body (13), a lower base (14), two symmetrically arranged slide rails (15), a vertical lifting sliding plate (16), a vertical lifting adapter (17), a vertical lifting support plate (18) and a horizontal moving component (19), the two symmetrically arranged slide rails (15) are fixedly arranged on the upper end surface of the lower base (14), the gantry frame body (13) is connected with the two symmetrically arranged slide rails (15) through the horizontal moving component (19), the hydraulic oil cylinder mounting plate (12) is fixedly arranged on a cross beam of the gantry frame body (13), the hydraulic oil cylinder (11) is fixedly arranged on the hydraulic oil cylinder mounting plate (12), a piston rod of the hydraulic oil cylinder (11) is hinged with the vertical lifting adapter (17), the vertical lifting adapter (17) is fixedly arranged on the vertical surface of the vertical lifting sliding plate (16), the vertical lifting sliding plate (16) is connected with the gantry frame body (13) in a sliding mode, the vertical lifting supporting plate (18) is fixedly arranged on the end face, far away from the vertical lifting adapter (17), of the vertical lifting sliding plate (16), the vertical lifting supporting plate (18) is horizontally arranged, and the moving assembly (2) is fixedly arranged on the upper end face of the vertical lifting supporting plate (18).

2. The lift adjustable tri-axial robotic arm structure of claim 1, wherein: the horizontal moving assembly (19) comprises a first driving motor (191), a rack (192), a gear (193) and a driving motor mounting plate (194), the rack (192) is fixedly arranged on one of two symmetrically arranged slide rails (15), the driving motor mounting plate (194) is fixedly arranged on the side wall of the lower end part of the gantry frame body (13), the first driving motor (191) is fixedly arranged on the driving motor mounting plate (194), a rotating shaft of the first driving motor (191) is connected with the gear (193), the gear (193) is meshed with the rack (192), a group of rollers (131) is arranged on the lower end face of the gantry frame body (13), the group of rollers (131) is arranged in the slide rails (15), and the group of rollers (131) can move in the slide rails (15).

3. The lift adjustable tri-axial robotic arm structure of claim 1, wherein: the two side walls of the vertical lifting sliding plate (16) close to the upright post of the gantry frame body (13) are provided with guide sliding blocks (161), the upright post of the gantry frame body (13) is provided with a first sliding groove (132), and the guide sliding blocks (161) are arranged in the first sliding groove (132).

4. The lift adjustable tri-axial robotic arm structure of claim 1, wherein: the movable assembly (2) comprises a second driving motor (21), a first screw rod (22), a first screw rod supporting seat (23), a first sliding block (24), a first sliding plate (25), a first supporting plate (26) and a double-shaft movable platform (27), a rotating shaft of the second driving motor (21) is connected with the first screw rod (22), the first screw rod (22) is arranged on the first screw rod supporting seat (23), the first sliding block (24) and the first sliding plate (25) are sleeved on the first screw rod (22), the first supporting plate (26) is fixedly arranged on the upper end faces of the first sliding block (24) and the first sliding plate (25), and the double-shaft movable platform (27) is fixedly arranged on the first supporting plate (26).

5. The lift adjustable tri-axial robotic arm structure of claim 4, wherein: the biaxial moving platform (27) comprises a first linear module (271), a first guide rail (272), a second sliding block (273), a second supporting plate (274), a second linear module (275), a second guide rail (276), a third sliding block (277) and a third supporting plate (278), the linear module I (271) and the guide rail I (272) are arranged on the support plate I (26) in parallel, the second sliding block (273) is connected with the first guide rail (272) in a sliding way, the second supporting plate (274) is arranged on the first linear module (271) and the second sliding block (273), the second linear module (275) and the second guide rail (276) are arranged on the second support plate (274) in parallel, the third sliding block (277) is connected with the second guide rail (276) in a sliding way, the third supporting plate (278) is arranged on the second linear module (275) and the third sliding block (277), and the three-axis mechanical arm (3) is fixedly arranged on the upper end surface of the third support plate (278).

6. The lift adjustable tri-axial robotic arm structure of claim 4, wherein: the moving assembly (2) further comprises a rectangular supporting frame (28), a horizontal supporting beam (29) is arranged at the middle position of the rectangular supporting frame (28) along the length direction, and a second driving motor (21) and a screw rod supporting seat (23) are fixedly arranged on the horizontal supporting beam (29).

7. The lift adjustable tri-axial robotic arm structure of claim 6, wherein: two opposite sides of the rectangular supporting frame (28) are provided with guide columns (281), the guide columns (281) are located on two sides of the screw rod (22), and the guide columns (281) are sleeved with the first sliding plate (25).

8. The lift adjustable tri-axial robotic arm structure of claim 7, wherein: two opposite edges of the rectangular supporting frame (28) are also provided with a second sliding groove (282), the lower end part of the first sliding plate (25) is provided with a fourth sliding block (251), and the fourth sliding block (251) is in sliding connection with the second sliding groove (282).

9. The lift adjustable tri-axial robotic arm structure of claim 2, wherein: the gantry frame body (13) comprises a gantry frame body (133), reinforcing rib plates (134) and horizontal connecting plates (135), wherein the horizontal connecting plates (135) are horizontally arranged at the lower end part of the gantry frame body (133), the reinforcing rib plates (134) are arranged between the side wall of the gantry frame body (133) and the horizontal connecting plates (135), driving motor mounting plates (194) are arranged on the reinforcing rib plates (134), hydraulic oil cylinder mounting plates (12) are arranged on a cross beam at the upper end of the gantry frame body (133), and the vertical lifting sliding plate (16) is in sliding connection with an upright post of the gantry frame body (133).