CN211250028U

CN211250028U - High-speed mechanical arm

Info

Publication number: CN211250028U
Application number: CN201921064031.8U
Authority: CN
Inventors: 刘胜
Original assignee: Nanjing Hongjie Electromechanical Technology Co ltd
Current assignee: Nanjing Hongjie Electromechanical Technology Co ltd
Priority date: 2019-07-09
Filing date: 2019-07-09
Publication date: 2020-08-14
Anticipated expiration: 2029-07-09

Abstract

The utility model discloses a high-speed robotic arm, including frame, rotatory jar and clamp jar, the upper end movable mounting of frame has the lift unit, first slide rail has been seted up in the outside of lift unit, the lift unit is through swing joint between first slide rail and the loading platform, the upper end movable mounting of loading platform has the rotating unit, avris position movable mounting of rotating unit upper end has the second slide rail, the rotating unit passes through the second slide rail and gets and put swing joint between the unit, the high-speed robotic arm body is wholly constituteed on frame and upper portion. According to the high-speed mechanical arm, the rotating arm can be matched with the counterweight piece to assist in balancing the weight of the rotating arm on the two sides of the shaft seat, so that when the lifting unit takes the object A from the taking and placing unit and moves at a high speed, the problem that the accuracy is poor due to improper shaking of the mechanical arm in the moving process is avoided, the production efficiency is ensured, and the application range is effectively enlarged.

Description

High-speed mechanical arm

Technical Field

The utility model relates to a robotic arm technical field specifically is a high-speed robotic arm.

Background

At present, a lot of mechanical arms are used in the production process of many industries to replace manpower, so that the production line can achieve automatic production, and further the production efficiency is improved. In order to achieve good production efficiency, the robot arm must move in the three-dimensional space at a high speed, and must have good stability during the moving process so as to maintain good accuracy during the object pick-and-place.

However, the conventional robot arm has a disadvantage that the whole weight is heavy due to the large number of components, and when the motor drives the robot arm to swing at a high speed and the robot arm moves up and down, if the mechanism for controlling the robot arm to move up and down is supported by only one side, the robot arm is easy to shake during the moving up and down, so that the robot arm cannot maintain good stability during moving, and the accuracy is poor when the object is taken in and taken out.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a high-speed robotic arm to propose in solving above-mentioned background art because of the component is various and holistic weight is quite heavy, swing at the high-speed soon of motor drive robotic arm, and when having the action of going up and down along with, if the mechanism that control robotic arm goes up and down only with unilateral support, robotic arm produces easily and rocks in the lift in-process, cause robotic arm can't maintain good stability when removing, thereby just can appear the not good problem of accuracy when getting of aforementioned object.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a high-speed robotic arm, includes frame, rotatory jar and presss from both sides the jar, the upper end movable mounting of frame has the lift unit, first slide rail has been seted up in the outside of lift unit, the lift unit is through swing joint between first slide rail and the loading platform, the upper end movable mounting of loading platform has the rotating unit, the avris position movable mounting of rotating unit upper end has the second slide rail, the rotating unit passes through the second slide rail and gets and put swing joint between the unit, the high-speed robotic arm body is wholly constituteed on frame and upper portion.

Preferably, the lifting unit is provided with three first slide rails with the same specification on two opposite sides of the frame, two of the three first slide rails are arranged on one side of the lifting unit, the other one is arranged on the other side of the lifting unit, and the three first slide rails are longitudinally arranged in the frame, wherein the taking and placing unit is arranged on the rotating unit and used for taking and placing the object, the rotating unit can be driven to horizontally rotate and swing and vertically lift along with the driving of the loading platform by the lifting unit so as to stably drive the taking and placing unit to three-dimensionally move and take and place the object.

Preferably, the lifting unit has a plurality of first slide rails arranged longitudinally on two opposite sides of the frame, the carrier is respectively arranged on the first slide rails by a slide seat on two opposite sides of the frame, the slide seat is provided with a first nut, the frame is correspondingly provided with a first lead screw arranged longitudinally and penetrating the first nut, the first lead screw is linked with a carrier driving motor and can be driven to rotate, and the first nut drives the slide seat to lift along with the rotation of the first lead screw.

Preferably, the loading platform has an axle seat, and the rotating unit has a rotating arm rotatably journaled to the axle seat, and a rotating arm driving motor drives the rotating arm to swing.

Preferably, the rotating arm is provided with a sliding table, the sliding table slides along the length direction of the rotating arm, the taking and placing unit is arranged on the sliding table, and the taking and placing unit can be relatively close to or far away from the rack along with the sliding of the sliding table.

Preferably, a base is arranged on one side of the rotating cylinder different from the clamping cylinder, one end of the sliding table of the base is connected with an adjusting motor in a shaft mode, and the adjusting motor drives the base to rotate along a vertical axial direction and is linked with the rotating cylinder to swing horizontally.

Preferably, the sliding table is equipped with a second nut, the swinging boom correspondence is equipped with a second lead screw that is horizontal setting, the second nut is established the second lead screw, the second lead screw links a slip table driving motor and can be driven rotatoryly, the second nut follows the second lead screw rotates and drives the sliding table slides.

Preferably, a counterweight is arranged on one side of the rotating arm different from the sliding table, so that the counterweight balances the weight of the rotating arm on the two sides of the shaft seat.

Preferably, the taking and placing unit comprises a rotating cylinder and a clamping cylinder, the rotating cylinder is arranged at one end of the sliding table, the clamping cylinder is connected to the rotating cylinder in a shaft mode, the clamping cylinder is provided with two clamping jaws, and the rotating cylinder can drive the clamping cylinder to rotate along a horizontal axial direction.

Compared with the prior art, the beneficial effects of the utility model are that: the high-speed mechanical arm has the advantages that the loading platform arranged on the rotating unit is combined on the lifting unit by the two opposite sides, the sliding seats are arranged on the two sides of the loading platform and can be slidably arranged on the first sliding rails, even if the rotating unit arranged on the loading platform is heavy due to a plurality of components, the two opposite sides of the loading platform are combined on the lifting unit and can still drive the rotating unit to stably ascend or descend, and the rotating arm can be matched with the counterweight piece to assist in balancing the weight of the rotating arm on the two sides of the shaft seat, so that when the lifting unit takes and places the object A and moves at a high speed, the lifting unit can have higher stability compared with the existing mechanical arm, the problem that the accuracy is poor due to improper shaking of the mechanical arm in the moving process is avoided, the effect of ensuring the production efficiency is achieved, and the whole application range is effectively expanded.

Drawings

Fig. 1 is a schematic view of the three-dimensional appearance structure of the present invention;

FIG. 2 is a schematic view of the lifting unit and the carrying platform of the present invention;

FIG. 3 is an exploded view of the lifting unit and the carrier of the present invention;

fig. 4 is a schematic view of the structure of the present invention in which the lowering unit and the carrying platform are located on the frame set;

FIG. 5 is an exploded view of the rotation unit and the pick-and-place unit of the present invention;

FIG. 6 is a schematic view of the structure of the rotating unit and the pick-and-place unit of the present invention;

fig. 7 is a schematic view of the use state of the object to be gripped by the picking and placing unit of the present invention;

fig. 8 is a schematic view of the rotating arm of the present invention in a state of rotating at 45 degrees;

fig. 9 is a schematic structural view of the rotating arm of the present invention in a 90-degree swinging state;

in the figure: 10. a frame; 20. a lifting unit; 30. a loading table; 40. a rotation unit; 50. a pick-and-place unit; 21. a first slide rail; 22. a first lead screw; 23. a stage drive motor; 31. a slide base; 311. a first nut; 32. a shaft seat; 41. a rotating arm; 411. a counterweight; 42. a swing arm drive motor; 43. a sliding table; 44. a second slide rail; 45. a second nut; 46. a second lead screw; 47. A slide table drive motor; 48. a shield; 51. a rotating cylinder; 511. a base; 52. clamping a cylinder; 521. a clamping jaw; 53. adjusting the motor; 100. a high-speed mechanical arm body.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-9, the present invention provides a technical solution: a high-speed mechanical arm comprises a rack 10, a lifting unit 20, a loading platform 30, a rotating unit 40, a taking and placing unit 50, a first slide rail 21, a second slide rail 44 and a high-speed mechanical arm body 100, wherein the lifting unit 20 is movably mounted at the upper end of the rack 10, the first slide rail 21 is arranged on the outer side of the lifting unit 20, the lifting unit 20 is movably connected with the loading platform 30 through the first slide rail 21, the rotating unit 40 is movably mounted at the upper end of the loading platform 30, the second slide rail 44 is movably mounted at the side position of the upper end of the rotating unit 40, the rotating unit 40 is movably connected with the taking and placing unit 50 through the second slide rail 44, and the rack 10 and the upper part of the rack integrally form the high-;

furthermore, the lifting unit 20 is provided with three first slide rails 21 with the same specification on two opposite sides of the frame 10, two of the three first slide rails 21 are provided on one side of the lifting unit 20, the other one is provided on the other side of the lifting unit 20, and the three first slide rails 21 are longitudinally provided in the frame 10, wherein the pick-and-place unit 50 is provided on the rotating unit 40 for picking and placing objects, the rotating unit 40 can be driven to horizontally rotate and swing, and vertically lift with the driving of the loading platform 30 by the lifting unit 20 to stably drive the pick-and-place unit 50 to three-dimensionally move and pick and place objects, thereby improving the overall mobility, enhancing the overall usability, and improving the working efficiency of the whole in practical use;

furthermore, the lifting unit 20 has a plurality of first slide rails 21 arranged longitudinally on two opposite sides of the rack 10, the carrier is respectively arranged on the first slide rails 21 by a slide seat 31 on two opposite sides of the rack 10, the slide seat 31 is provided with a first nut 311, the rack 10 is correspondingly provided with a first lead screw 22 arranged longitudinally to penetrate through the first nut 311, the first lead screw 22 is linked with a carrier driving motor 23 and can be driven to rotate, and the first nut 311 rotates along with the first lead screw 22 to drive the slide seat 31 to lift, so that the integrity of a connection structure between the lifting unit 20 and the loading platform 30 is ensured;

furthermore, the loading platform 30 has a shaft seat 32, the rotating unit 40 has a rotating arm 41 rotatably coupled to the shaft seat 32, and a rotating arm driving motor 42 drives the rotating arm 41 to swing, so that the whole body has basic use conditions in practical applications;

further, the rotating arm 41 is provided with a sliding table 43, the sliding table 43 slides along the length direction of the rotating arm 41, the taking and placing unit 50 is arranged on the sliding table 43, and the taking and placing unit 50 can relatively approach or depart from the rack 10 along with the sliding of the sliding table 43, so that the reasonable stability of the whole structure is ensured, and the use effect of the whole mechanical arm is improved;

further, the sliding table 43 is provided with a second nut 45, the rotating arm 41 is correspondingly provided with a second lead screw 46 which is transversely arranged, the second nut 45 is arranged on the second lead screw 46, the second lead screw 46 is linked with a sliding table 43 driving motor and can be driven to rotate, and the second nut 45 rotates along with the second lead screw 46 to drive the sliding table 43 to slide;

further, the pick-and-place unit 50 is fixedly installed at the side position of the upper end of the sliding table 43, the pick-and-place unit 50 uses a rotating cylinder 51 as a supporting body, a base 511 is fixedly installed at the bottom, a clamping cylinder 52 is movably installed at the outer side of the rotating cylinder 51, the clamping cylinder 52 is movably connected with a clamping jaw 521, an adjusting motor 53 is fixedly installed at the lower end position of the side of the rotating cylinder 51, the sliding table 43 slides along the length direction of the rotating arm 41, the pick-and-place unit 50 can relatively approach or separate from the machine frame 10 along with the sliding of the sliding table 43, the pick-and-place unit 50 swings horizontally through the base 511 a little, after the clamping jaw 521 clamps the object a, the rotating arm 41 can be driven by the rotating arm driving motor 42 to swing ninety degrees from the left side to the right side, and in the process, the rotating of;

furthermore, a counterweight 411 is arranged on a side of the rotating arm 41 different from the sliding table 43, and the counterweight 411 balances the weight of the rotating arm 41 on two sides of the shaft seat 32, so that the protective cover 48 can effectively protect the whole driving part of the rotating unit 40, the whole functionality is enriched, the whole mobility and working performance are effectively enhanced, and the whole application range of the mechanical arm is expanded;

further, the pick-and-place unit 50 comprises a rotating cylinder 51 and a clamping cylinder 52, the rotating cylinder 51 is arranged at one end of the sliding table 43, the clamping cylinder 52 is coupled to the rotating cylinder 51, the clamping cylinder 52 is provided with two clamping jaws 521, and the rotating cylinder 51 can drive the clamping cylinder 52 to rotate along a horizontal axial direction, so that the overall working performance of the arm changing and unloading arm is effectively improved.

The working principle is as follows: the lifting unit 20 has three first slide rails 21 on two opposite sides of the frame 10, wherein one side is two first slide rails 21, and the other side is one first slide rail 21, the three first slide rails 21 are longitudinally disposed in the frame 10, the loading platform 30 is longitudinally disposed on the first slide rails 21 by a slide base 31 respectively on two opposite sides of the frame 10, the slide base 31 is provided with a first nut 311, the frame 10 is provided with a first lead screw 22, the first lead screw 22 is disposed corresponding to the first nut 311, the first lead screw 22 is also longitudinally disposed to penetrate the first nut 311, the first lead screw 22 is connected to a platform driving motor 23 at one end, when the platform driving motor 23 is actuated, the first lead screw 22 can be driven by the platform driving motor 23 to rotate, the first nut 311 can drive the slide base 31 to perform lifting action along with the rotation of the first lead screw 22, the loading platform 30 can be lifted or lowered along with the slide base 31, the loading platform 30 has a shaft seat 32, and the rotation unit 40 has a rotation arm 41, the rotation arm 41 is rotatably connected to the shaft seat 32, so that the rotation arm 41 can swing horizontally with respect to the loading platform 30 with the shaft seat 32 as the center, and in this embodiment, the horizontal swing of the rotation arm 41 is driven by a rotation arm driving motor 42, preferably, a sliding platform 43 is provided on the rotation arm 41, the sliding platform 43 can slide along the length direction of the rotation arm 41, furthermore, the rotation arm 41 has a weight 411 on the side different from the sliding platform 43, since the side of the rotation arm 41 having the sliding platform 43 is longer and the number of components is larger, the weight of the rotation arm 41 will be biased to the side having the sliding platform 43, so the weight of the rotation arm 41 on both sides of the shaft seat 32 is balanced by the weight 411, on the sliding platform 43, the sliding platform 43 has a plurality of second sliding rails 44, and the sliding platform 43 has a second nut 45, the plurality of second sliding rails 44 are transversely arranged, and the sliding table 43 is slidably arranged on the second sliding rails 44 and can slide; the rotating arm 41 is provided with a second lead screw 46, the second lead screw 46 is disposed corresponding to the second nut 45, the second lead screw 46 is disposed transversely, the second nut 45 is disposed on the second lead screw 46, the second lead screw 46 is connected to a sliding table driving motor 47, the second lead screw 46 can be driven by the sliding table driving motor 47 to rotate, at this time, the second nut 45 rotates with the second lead screw 46 to drive the sliding table 43 to slide along the length direction of the rotating arm 41, in the embodiment, a shield 48 is disposed on the sliding stroke of the sliding table 43, and a pick-and-place unit 50 is disposed on the sliding table 43, the pick-and-place unit 50 can relatively approach the machine frame 10 or relatively leave the machine frame 10 along with the sliding of the sliding table 43, therefore, by the slidable disposition of the sliding table 43 on the rotating arm 41, the pick-and-place unit 50 can move to positions beyond the length of the rotating arm 41, so that the pick-and place unit 50 can take objects in a, preferably, the pick-and-place unit 50 includes a rotating cylinder 51 and a clamping cylinder 52, the rotating cylinder 51 is disposed at one end of the sliding table 43, the clamping cylinder 52 is connected to the rotating cylinder 51, the clamping cylinder 52 has two clamping jaws 521, the rotating cylinder 51 can drive the clamping cylinder 52 to rotate along a horizontal axis, and the clamping cylinder 52 can clamp or release the object with its two clamping jaws 521, furthermore, the rotating cylinder 51 is provided with a base 511 at a side different from the clamping cylinder 52, the base 511 is connected to an adjusting motor 53 at one end of the sliding table 43, the adjusting motor 53 drives the base 511 to rotate along a vertical axis, and the rotating cylinder 51 is linked to swing horizontally as shown in fig. 7 to 9, the adjusting motor 53 of the embodiment can drive the rotating cylinder 51 to swing horizontally by 120 degrees to the maximum angle towards the left and right sides, respectively, thereby the object can be rotated by 120 degrees towards two sides respectively to meet the pick-and place requirements of different angles of the object, therefore, the rotating arm 41 can swing in a large angle manner, and can rapidly displace the object taken by the pick-and-place unit 50 at a high speed, and when the position of the pick-and-place unit 50 needs to be finely adjusted by positioning the rotating arm 41, the base 511 is driven by the adjusting motor 53 to drive the rotating cylinder 51 to swing horizontally, so as to facilitate the smooth pick-and-place operation of the object, as above, the rotating arm 41 of the rotating unit 40 can be driven by the rotating arm driving motor 42 to swing, and can be slid to the position of the object to be picked and placed along the length direction of the rotating arm 41 by the sliding table 43, and meanwhile, the carrier driving motor 23 drives the first lead screw 22 to rotate, so that the first nut 311 drives the sliding base 31 to ascend or descend along with the rotation of the first lead screw 22, and the loading platform 30 can ascend or descend along with the sliding base 31, the rotating arm 41 disposed on the loading platform 30 can move up and down along with the loading platform 30 during the swinging process and the sliding process of the sliding platform 43, so that the object taken by the pick-and-place unit 50 can be displaced to a fixed point at a high speed, for example, as shown in fig. 7 to 9, after the pick-and-place unit 50 swings horizontally through the base 511 and clamps the object a with the clamping jaws 521, the rotating arm 41 can be driven by the rotating arm driving motor 42 to swing ninety degrees from the left side to the right side in the figure, in this process, the sliding base 31 is driven to descend by the rotation of the first lead screw 22, the sliding platform 43 is driven by the sliding platform driving motor 47 to slide along the length direction of the rotating arm 41, and the adjusting motor 53 also drives the base 511 to swing the rotating cylinder 51 horizontally, thereby moving the object a to the fixed point position shown in fig. 9, and opening the clamping jaws 521 to release the object a.

It should be finally noted that the above only serves to illustrate the technical solution of the present invention, and not to limit the scope of the present invention, and that simple modifications or equivalent replacements performed by those skilled in the art to the technical solution of the present invention do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. The utility model provides a high-speed robotic arm, includes frame, rotatory jar and presss from both sides the jar, its characterized in that: the utility model discloses a high-speed mechanical arm body, including frame, lifting unit, loading platform, side position movable mounting, rotating unit, frame and upper portion whole constitution high-speed mechanical arm body, the upper end movable mounting of frame has lifting unit, first slide rail has been seted up in lifting unit's the outside, lifting unit is through swing joint between first slide rail and the loading platform, the upper end movable mounting of loading platform has the rotating unit, the avris position movable mounting of rotating unit upper end has the second slide rail, the rotating unit passes through the second slide rail and gets and put swing joint between the unit.

2. A high speed robot as claimed in claim 1, wherein: the lifting unit is provided with three first sliding rails with the same specification on two opposite sides of the rack, two of the three first sliding rails are arranged on one side of the lifting unit, the other one is arranged on the other side of the lifting unit, and the three first sliding rails are longitudinally arranged in the rack, wherein the taking and placing unit is arranged on the rotating unit and used for taking and placing objects, the rotating unit can be driven to horizontally rotate and swing and vertically lift along with the driving of the loading platform by the lifting unit so as to stably drive the taking and placing unit to three-dimensionally move and take and place the objects.

3. A high speed robot as claimed in claim 1, wherein: the lifting unit is provided with a plurality of first sliding rails which are longitudinally arranged on two opposite sides of the rack, the carrier is arranged on the first sliding rails on two opposite sides of the rack through a sliding seat respectively, the sliding seat is provided with a first screw cap, a first lead screw which is longitudinally arranged is correspondingly arranged on the rack and penetrates through the first screw cap, the first lead screw is connected with a carrier driving motor and can be driven to rotate, and the first screw cap drives the sliding seat to lift along with the rotation of the first lead screw.

4. A high speed robot as claimed in claim 3, wherein: the loading platform is provided with an axle seat, the rotating unit is provided with a rotating arm which is rotatably and axially connected with the axle seat, and a rotating arm driving motor drives the rotating arm to rotate and swing.

5. A high speed robot as claimed in claim 4, wherein: the swinging boom is equipped with a sliding platform, the sliding platform is followed the length direction of swinging boom slides, it establishes to get the unit the sliding platform, it follows to get the unit the sliding of sliding platform can be close to relatively or keep away from the frame.

6. A high speed robot as claimed in claim 5, wherein: the base is arranged on one side of the rotating cylinder different from the clamping cylinder, one end of the sliding table is connected with an adjusting motor in a shaft mode, and the adjusting motor drives the base to rotate along a vertical axial direction and is linked with the rotating cylinder to swing horizontally.

7. A high speed robot as claimed in claim 5, wherein: the sliding table is provided with a second nut, the rotating arm corresponds and is equipped with a second lead screw that is horizontal setting, the second nut is established the second lead screw, the second lead screw links a slip table driving motor and can be driven rotatoryly, the second nut is followed the second lead screw rotates and drives the sliding table slides.

8. A high speed robot as claimed in claim 5, wherein: and a counterweight part is arranged on one side of the rotating arm different from the sliding table, so that the counterweight part balances the weight of the rotating arm on the two sides of the shaft seat.

9. A high speed robot as claimed in claim 5, wherein: the taking and placing unit comprises a rotating cylinder and a clamping cylinder, the rotating cylinder is arranged at one end of the sliding table, the clamping cylinder is connected with the rotating cylinder in a shaft mode, the clamping cylinder is provided with two clamping jaws, and the rotating cylinder can drive the clamping cylinder to rotate along a horizontal axial direction.