CN213731792U

CN213731792U - Five-axis manipulator

Info

Publication number: CN213731792U
Application number: CN202022111314.2U
Authority: CN
Inventors: 华羽丰; 胡志; 陈加富
Original assignee: Guangdong Subo Intelligent Technology Co ltd
Current assignee: Guangdong Subo Intelligent Technology Co ltd
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2021-07-20
Anticipated expiration: 2030-09-23

Abstract

The utility model discloses a five-axis manipulator, including first connecting plate, the inside first moving mechanism that is provided with of first connecting plate, first moving mechanism is provided with first lead screw including a groove, and a inslot is provided with first lead screw, and threaded connection has first movable block on the first lead screw, and the upper end of first movable block is connected with damper, and damper includes two connecting rods, and two connecting rod lower extremes all rotate and are connected with the slider, the first spring of one end fixedly connected with that two sliders were kept away from each other, and damper's top is provided with five-axis manipulator body, and beneficial effect is: through setting up damper and second spring, the partly vibrations that produce during five-axis manipulator operation are transmitted to the second spring, and the second spring plays the cushioning effect, and another part vibrations are transmitted to damper connecting rod to first spring, and first spring receives vibrations reciprocating motion buffering to fall partly vibrations, reduces the vibrations during five-axis manipulator body operation, avoids five-axis manipulator operation shakiness.

Description

Five-axis manipulator

Technical Field

The utility model relates to the technical field of mechanical device, specifically be a five-axis manipulator.

Background

The five-axis manipulator is a manipulator controlled by five servo motors and comprises a motor for controlling transverse movement, a motor for controlling lifting and a motor for controlling rotation, the five-axis manipulator is used for greatly improving the machining efficiency, and the requirement of automatic production is met.

In the prior art, when a five-axis manipulator is used, a base of the manipulator is generally fixed at a machining position and cannot move left and right and back and forth, and the machining efficiency is not high enough; the manipulator can produce vibrations when the operation, and the manipulator is easy because vibrations operation unstability when the work.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a five-axis manipulator, in the device, through setting up first lead screw, second lead screw, damper and second spring, in order to solve the above-mentioned background art when proposing in five-axis manipulator use, the base of manipulator is generally fixed at the processing position, can't left and right back-and-forth movement, the efficiency is not high enough in processing; the manipulator can produce vibrations when the operation, and the manipulator is easy because the unstable problem of vibrations operation when the during operation.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model relates to a five-axis manipulator, which comprises a first connecting plate, wherein a first moving mechanism is arranged in the first connecting plate, the first moving mechanism comprises a top groove, a first lead screw is arranged in the top groove, a first moving block is in threaded connection with the first lead screw, the upper end of the first moving block is connected with a damping mechanism, the damping mechanism comprises two connecting rods, the lower ends of the two connecting rods are in rotating connection with sliders, one end of each slider, which is far away from each other, is fixedly connected with a first spring, a five-axis manipulator body is arranged above the damping mechanism, two second connecting plates which are oppositely arranged are arranged below the first moving mechanism, side grooves are arranged at the upper ends of the two second connecting plates, a second moving mechanism is arranged in each side groove, the second moving mechanism comprises a second lead screw, and a second moving block is in threaded connection with the two second lead screws, the upper ends of the two second moving blocks are respectively and fixedly connected to the two ends of the bottom end of the first connecting plate.

Preferably, first lead screw one end fixedly connected with first motor, first motor fixed connection is in the one side inner wall of overhead tank, the one end that first motor was kept away from rotates through the bearing and connects in the opposite side inner wall of overhead tank.

Preferably, the lower end of the five-axis manipulator body is fixedly connected with a base, the upper ends of the two connecting rods are rotatably connected to the middle of the bottom end of the base, an inner groove is formed in the upper end of the first moving block, the two sliding blocks are respectively connected to two sides of the inner groove in a sliding mode, and the ends, far away from each other, of the two first springs are respectively fixedly connected to the groove walls at two ends of the inner groove.

Preferably, two equal fixedly connected with bracing piece in both ends between the second connecting plate, two the one end fixedly connected with second motor of second lead screw, the second motor all passes through fixing base fixed connection in a lateral wall of side channel, the one end that the second motor was kept away from to the second lead screw all passes through the bearing and rotates the cell wall of connecting in the side channel opposite side.

Preferably, both ends of the upper end of the first moving block are fixedly connected with second springs, and the second springs are fixedly connected to the bottom end of the base.

Compared with the prior art, the beneficial effects of the utility model are that:

1. through setting up first lead screw and second lead screw, drive first movable block lateral shifting when first lead screw rotates for five-axis manipulator body lateral shifting above the first movable block, drive second movable block longitudinal movement when the second lead screw rotates, make five-axis manipulator body longitudinal shifting above the second movable block, can realize five-axis manipulator body's lateral longitudinal movement, add man-hour efficient.

2. Through setting up damper and second spring, the partly vibrations that produce during five-axis manipulator operation are transmitted to the second spring, and the second spring plays the cushioning effect, and another part vibrations are transmitted to damper connecting rod to first spring, and first spring receives vibrations reciprocating motion buffering to fall partly vibrations, reduces the vibrations during five-axis manipulator body operation, avoids five-axis manipulator operation shakiness.

Drawings

FIG. 1 is a front view of the cutting structure of the present invention;

fig. 2 is a sectional structure diagram of the second connecting plate of the present invention;

fig. 3 is a schematic structural diagram of the damping mechanism of the present invention.

In the figure: 1. a first connecting plate; 2. a first moving mechanism; 21. a top groove; 22. a first lead screw; 23. a first moving block; 24. a first motor; 3. a damping mechanism; 31. a connecting rod; 32. a slider; 33. a first spring; 4. a five-axis manipulator body; 5. a second connecting plate; 6. a second moving mechanism; 61. a second lead screw; 62. a second moving block; 63. a second motor; 7. a support bar; 8. a base; 9. a second spring; 10. an inner tank; 11. and a side groove.

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. 1-3, the present invention provides a technical solution:

the utility model relates to a five-axis manipulator, which comprises a first connecting plate 1, a first moving mechanism 2 is arranged in the first connecting plate 1, the first moving mechanism 2 comprises a top groove 21, a first lead screw 22 is arranged in the top groove 21, a first moving block 23 is connected on the first lead screw 22 by screw threads, the upper end of the first moving block 23 is connected with a damping mechanism 3, the damping mechanism 3 comprises two connecting rods 31, the lower ends of the two connecting rods 31 are respectively and rotatably connected with a slide block 32, one end of the two slide blocks 32, which is far away from each other, is fixedly connected with a first spring 33, a five-axis manipulator body 4 is arranged above the damping mechanism 3, two second connecting plates 5 which are oppositely arranged are arranged below the first moving mechanism 2, side grooves 11 are respectively arranged at the upper ends of the two second connecting plates 5, a second moving mechanism 6 is arranged in each side groove 11, the second moving mechanism 6 comprises a second lead screw 61, a second moving block 62 is connected on each second lead screw 61 by screw threads, the upper ends of the two second moving blocks 62 are fixedly connected to the two ends of the bottom end of the first connecting plate 1, respectively.

The two ends of the upper end of the first moving block 23 are fixedly connected with second springs 9, the second springs 9 are fixedly connected to the bottom end of the base 8, a part of vibration generated when the five-axis manipulator body 4 operates is transmitted to the second springs 9, the second springs 9 play a role of shock absorption, one end of the first lead screw 22 is fixedly connected with a first motor 24, the first motor 24 is fixedly connected to the inner wall of one side of the top groove 21, one end of the first motor 24, far away from the first motor 24, is rotatably connected to the inner wall of the other side of the top groove 21 through a bearing, the first motor 24 drives the first lead screw 22 to rotate, the first moving block 23 is driven to transversely move when the first lead screw 22 rotates, the five-axis manipulator body 4 above the first moving block 23 is driven to transversely move, the lower end of the five-axis manipulator body 4 is fixedly connected with the base 8, the upper ends of the two connecting rods 31 are rotatably connected to the middle part of the bottom end of the base 8, an inner groove 10 is formed in the upper end of the first moving block 23, two sliders 32 are respectively connected to two sides of the inner groove 10 in a sliding manner, one ends, far away from each other, of the two first springs 33 are respectively fixedly connected to two end groove walls of the inner groove 10, vibration is transmitted to the connecting rod 31 to the first springs 33, the first springs 33 are subjected to vibration reciprocating motion to buffer part of vibration, vibration generated when the five-axis manipulator body 4 operates is reduced, two ends of the two second connecting plates 5 are respectively and fixedly connected with the supporting rods 7, one ends of the two second lead screws 61 are fixedly connected with the second motor 63, the second motor 63 is fixedly connected to one side wall of the side groove 11 through the fixing seat, one ends, far away from the second motor 63, of the second lead screws 61 are respectively connected to the groove wall of the other side of the side groove 11 through bearings in a rotating manner, the second motor 63 drives the second lead screws 61 to rotate, the second lead screws 61 drive the second moving block 62 to move longitudinally when rotating, and drive the five-axis manipulator body 4 above the second moving block 62 to move longitudinally.

When the five-axis manipulator body 4 needs to be moved, the first motor 24 is turned on to drive the first lead screw 22 to rotate, the first lead screw 22 drives the first moving block 23 to transversely move when rotating, the five-axis manipulator body 4 above the first moving block 23 is driven to transversely move, the second motor 63 is turned on to drive the second lead screw 61 to rotate, the second lead screw 61 drives the second moving block 62 to longitudinally move when rotating, the five-axis manipulator body 4 above the second moving block 62 is driven to longitudinally move, transverse longitudinal movement of the five-axis manipulator body 4 can be realized, when the five-axis manipulator body 4 is moved and operated, the damping mechanism 3 connected below the base 8 of the five-axis manipulator body 4 plays a damping role, part of vibration generated when the five-axis manipulator body 4 is operated is transmitted to the second spring 9, the second spring 9 plays a damping role, and the other part of vibration is transmitted to the connecting rod 31, the connecting rod 31 is subjected to vibration angle change, so that the connected sliding block 32 moves in the inner groove 10 to drive the first spring 33 to stretch, the first spring 33 does reciprocating motion to buffer part of vibration, and the vibration generated when the five-axis manipulator body 4 operates is reduced.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", 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 simplicity of description, and 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", "third", "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, whereby the features defined as "first", "second", "third", "fourth" may explicitly or implicitly include at least one such feature.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The five-axis manipulator is characterized by comprising a first connecting plate (1), wherein a first moving mechanism (2) is arranged in the first connecting plate (1), the first moving mechanism (2) comprises a top groove (21), a first lead screw (22) is arranged in the top groove (21), a first moving block (23) is in threaded connection with the first lead screw (22), a damping mechanism (3) is connected to the upper end of the first moving block (23), the damping mechanism (3) comprises two connecting rods (31), sliding blocks (32) are rotatably connected to the lower ends of the two connecting rods (31), a first spring (33) is fixedly connected to one end, away from each other, of each sliding block (32), a five-axis manipulator body (4) is arranged above the damping mechanism (3), and two second connecting plates (5) which are arranged oppositely are arranged below the first moving mechanism (2), side grooves (11) are formed in the upper ends of the two second connecting plates (5), second moving mechanisms (6) are arranged in the side grooves (11), each second moving mechanism (6) comprises a second lead screw (61), second moving blocks (62) are connected to the two second lead screws (61) in a threaded mode, and the upper ends of the two second moving blocks (62) are fixedly connected to the two ends of the bottom end of the first connecting plate (1) respectively.

2. The five-axis robot of claim 1, wherein: first lead screw (22) one end fixedly connected with first motor (24), first motor (24) fixed connection is in one side inner wall of overhead tank (21), the one end that first motor (24) were kept away from in first motor (24) is passed through the bearing and is rotated and connect in the opposite side inner wall of overhead tank (21).

3. The five-axis robot of claim 1, wherein: the five-axis manipulator is characterized in that a base (8) is fixedly connected to the lower end of the five-axis manipulator body (4), the upper ends of the two connecting rods (31) are rotatably connected to the middle of the bottom end of the base (8), an inner groove (10) is formed in the upper end of the first moving block (23), the two sliding blocks (32) are slidably connected to two sides of the inner groove (10) respectively, and the two ends, far away from each other, of the first springs (33) are fixedly connected to groove walls at two ends of the inner groove (10) respectively.

4. The five-axis robot of claim 1, wherein: two equal fixedly connected with bracing piece (7) in both ends between second connecting plate (5), two the one end fixedly connected with second motor (63) of second lead screw (61), second motor (63) all through fixing base fixed connection in one side lateral wall of side channel (11), the one end that second motor (63) were kept away from in second lead screw (61) all rotates through the bearing and connects in the cell wall of side channel (11) opposite side.

5. The five-axis robot of claim 1, wherein: both ends of the upper end of the first moving block (23) are fixedly connected with second springs (9), and the second springs (9) are fixedly connected to the bottom end of the base (8).