CN215701679U - High-speed finish machining multi-joint robot - Google Patents
High-speed finish machining multi-joint robot Download PDFInfo
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- CN215701679U CN215701679U CN202121911742.1U CN202121911742U CN215701679U CN 215701679 U CN215701679 U CN 215701679U CN 202121911742 U CN202121911742 U CN 202121911742U CN 215701679 U CN215701679 U CN 215701679U
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Abstract
The utility model belongs to the technical field of machining robots, and particularly relates to a high-speed finish machining multi-joint robot. The multi-joint robot comprises a mechanical arm, a fork opening seat and an outer shell, wherein the fork opening seat comprises two fork arms, two sides of the outer shell are detachably connected between the two fork arms, and one end, far away from the fork arms, of the fork opening seat is rotatably connected to the mechanical arm; all be equipped with motor one in two yoke, the fixed connecting portion that are equipped with of output of motor one, the spout has been seted up to the both sides of shell body, and connecting portion sliding connection in the spout, the internal surface of shell body is equipped with the electro-magnet. By adopting the structure provided by the utility model, the relative position of the outer shell and the fork opening seat is adjusted, and the outer shell and the fork opening seat are relatively fixed, on the other hand, the power supply of the electromagnet is cut off, so that the connecting part and the chute can recover to slide, the whole connecting part is moved out of the chute, the disassembly can be completed, the whole process is simple and rapid, and the working efficiency is greatly improved.
Description
Technical Field
The utility model belongs to the technical field of machining robots, and particularly relates to a high-speed finish machining multi-joint robot.
Background
The mechanical arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity and strong coupling. Due to its unique operating flexibility, which has been widely used in the fields of industrial assembly, safety explosion protection, etc., a processing robot is equipped with a processing shaft and a movable arm.
However, the outer shell of the processing end of the existing processing multi-joint robot is inconvenient to disassemble, generally adopts fixed connection, is fixed through a plurality of bolts and screws, is quite complicated to disassemble, and cannot adjust the relative position of the outer shell relative to the mechanical arm, and also cannot adjust the relative position of the processing head and the mechanical arm arranged in the outer shell.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the problem that an outer shell of a processing end of a multi-joint robot is inconvenient to disassemble in the prior art, and provides a high-speed finish machining multi-joint robot.
In order to realize the purpose of the utility model, the utility model provides the following technical scheme:
a high-speed finish machining multi-joint robot comprises a mechanical arm, a fork opening seat and an outer shell, wherein the fork opening seat comprises two fork arms, two sides of the outer shell are detachably connected between the two fork arms, and one end, far away from the fork arms, of the fork opening seat is rotatably connected to the mechanical arm;
two all be equipped with motor one in the yoke, the fixed connecting portion that are equipped with of output of motor one, the spout has been seted up to the both sides of shell body, connecting portion are in sliding connection in the spout, the internal surface of shell body is equipped with the electro-magnet, connecting portion are magnetism and inhale nature metal.
By adopting the structure provided by the utility model, the outer shell is arranged between the two fork arms of the fork opening seat, the end of the fork arms at two sides close to the outer shell is provided with the connecting part, the sliding grooves are arranged at two sides of the outer shell, the relative position of the outer shell and the fork opening seat is adjusted by the sliding connection of the sliding grooves and the connecting part, the electromagnet is electrified, the connecting part is adsorbed and fixed, and thus the relative fixing of the outer shell and the fork opening seat is realized, on the other hand, the power supply of the electromagnet is disconnected, the sliding of the connecting part and the sliding grooves can be recovered, the whole connecting part is moved out of the sliding grooves, the disassembly can be completed, the whole process is simple and rapid, and the working efficiency is greatly improved.
Preferably, the connecting part comprises a first limiting piece, a second limiting piece and a connecting column, the connecting column is connected between the first limiting piece and the second limiting piece, and one surface of the first limiting piece, which is far away from the second limiting piece, is connected with the output end of the first motor.
By adopting the structure, the first limiting sheet and the second limiting sheet are adopted, a clamping space is formed between the first limiting sheet and the second limiting sheet, the sliding chute can be clamped, and the connecting column plays a role in sliding guide.
Preferably, the spout includes sliding tray and guide way, spacing piece two is in the sliding tray slides, the spliced pole is in the guide way slides, spacing piece one is located the surface of shell body slides.
Adopt above-mentioned structure, spacing piece two slides in the sliding tray, carry out the spacing of slip direction, the spliced pole passes the guide way, make spacing piece two and spacing piece a fixed connection, in addition, the guide way has also decided the movement track of whole connecting portion, spacing piece one sets up the outside at the spout, the surface of shell body promptly, let a clamping space of spacing piece two formation with spacing piece, prevent connecting portion when sliding, the emergence is swayd, under spacing piece one and spacing piece two with holding, can avoid the condition of swaying as far as, reduce the pressure of spliced pole and spacing piece two junctions, reduce cracked probability.
Preferably, one surface of the first limiting piece, which is close to the yoke, is provided with a screw and a threaded sleeve, the screw is vertically arranged on the first limiting piece, and the threaded sleeve is sleeved on the screw.
The screw rod and the thread sleeve are arranged between the first limiting piece and the fork arm, the screw rod is fixed to the first limiting piece, the thread sleeve is arranged on the screw rod in a sleeved mode, the thread sleeve can move up and down along the screw rod through threaded connection, the total length of the screw rod and the thread sleeve can be changed, the thread sleeve is enabled to be arranged in the rising process, the fork arm is jacked to the upper surface of the thread sleeve, the first limiting piece can be assisted by the thread sleeve, the connecting portion is fixed for the second time, the connecting portion is prevented from being loosened, and the total length of the screw rod and the thread sleeve needs to be larger than the nearest distance between the first limiting piece and the fork arm.
Preferably, the mechanical arm comprises a base, a first rotating head, a large arm and a second rotating head, wherein the first rotating head is rotatably connected to the base, one end of the large arm is rotatably connected to the first rotating head, and the other end of the large arm is connected to one end of the second rotating head.
Preferably, one end of the fork mouth seat far away from the fork arm rotates to one end of the second rotating head far away from the large arm through a second motor.
The fork opening seat is driven to rotate by the second motor, so that the processing tool can have more processing angles.
Preferably, a third motor and a machining tool bit are further arranged in the outer shell, the machining tool bit is fixedly connected to the output end of the third motor, and the third motor is fixed in the outer shell.
And the motor III is used as a rotary power source of the machining tool bit, so that the machining tool bit starts to rotate for normal machining.
Preferably, the motor is further provided with a fixed support, two ends of the fixed support are fixed on the inner surface of the outer shell, and the motor III is fixed in the fixed support.
Preferably, a rolling bearing is arranged between the output end of the motor III and the outer shell.
Compared with the prior art, the utility model has the beneficial effects that:
1. by adopting the structure provided by the utility model, the outer shell is arranged between the two fork arms of the fork opening seat, the end of the fork arms at two sides close to the outer shell is provided with the connecting part, the sliding grooves are arranged at two sides of the outer shell, the relative position of the outer shell and the fork opening seat is adjusted by the sliding connection of the sliding grooves and the connecting part, the electromagnet is electrified, and the adsorbed connecting part is adsorbed and fixed, so that the relative fixing of the outer shell and the fork opening seat is realized, on the other hand, the power supply of the electromagnet is disconnected, the connecting part and the sliding grooves can be recovered to slide, the whole connecting part is moved out of the sliding grooves, the disassembly can be completed, the whole process is simple and rapid, and the working efficiency is greatly improved.
2. Spacing piece two slides in the sliding tray, carry out the spacing of slip direction, the spliced pole passes the guide way, make spacing piece two and spacing piece one fixed connection, in addition, the guide way has also decided the movement track of whole connecting portion, spacing piece one sets up the outside at the spout, the surface of shell body promptly, let spacing piece one and spacing piece two form a centre gripping space, prevent that connecting portion from when sliding, taking place to sway, under the holding of spacing piece one and spacing piece two, can avoid the condition of swaing as far as, reduce the pressure of spliced pole and spacing piece two junctions, reduce cracked probability
3. The screw rod and the thread sleeve are arranged between the first limiting piece and the fork arm, the screw rod is fixed to the first limiting piece, the thread sleeve is arranged on the screw rod in a sleeved mode, the thread sleeve can move up and down along the screw rod through threaded connection, the total length of the screw rod and the thread sleeve can be changed, the thread sleeve is enabled to be arranged in the rising process, the fork arm is jacked to the upper surface of the thread sleeve, the first limiting piece can be assisted by the thread sleeve, the connecting portion is fixed for the second time, the connecting portion is prevented from being loosened, and the total length of the screw rod and the thread sleeve needs to be larger than the nearest distance between the first limiting piece and the fork arm.
Drawings
FIG. 1 is a schematic view of the overall structure of the articulated robot of the present invention;
FIG. 2 is a top view of the multi-jointed robot of the present invention;
FIG. 3 is a schematic view of a connection structure of the fork seat and the outer housing of the present invention;
FIG. 4 is a right side view of the outer housing of the present invention;
FIG. 5 is a top view of the outer housing of the present invention;
FIG. 6 is a schematic view of the construction of the connection, screw and threaded sleeve of the present invention;
the labels in the figure are: 1-big arm, 2-second rotary head, 3-mechanical arm, 4-fork arm, 5-second motor, 6-fork seat, 7-first rotary head, 8-base, 9-chute, 10-outer shell, 11-first motor, 12-processing cutter head, 13-connecting part, 14-guide groove, 15-sliding groove, 16-electromagnet, 17-second limiting sheet, 18-first limiting sheet, 19-connecting column, 20-threaded sleeve, 21-screw rod and 22-third motor.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example one
Referring to fig. 1-6, the high-speed finishing multi-joint robot provided by the utility model comprises a mechanical arm 3, a fork seat 6 and an outer shell 10, wherein the mechanical arm 3 is used for driving the fork seat 6 and the outer shell 10 to change the angular positions in a three-dimensional space.
An electromagnet 16 is fixedly arranged on the inner surface of the outer shell 10, the connecting part 13 is preferably made of magnetic attractive metal, and the connecting part 13 is detachably connected through powering on and powering off the electromagnet 16.
By adopting the structure provided by the utility model, the outer shell 10 is arranged between the two fork arms 4 of the fork opening seat 6, the two fork arms 4 are respectively provided with the connecting part 13 at one end close to the outer shell 10, the sliding grooves 9 are respectively arranged at the two sides of the outer shell 10, the relative position of the outer shell 10 and the fork opening seat 6 is adjusted through the sliding connection of the sliding grooves 9 and the connecting parts 13, the electromagnet 16 is electrified, the adsorbed connecting part 13 is adsorbed and fixed, and therefore, the relative fixing of the outer shell 10 and the fork opening seat 6 is realized, on the other hand, the power supply of the electromagnet 16 is cut off, the connecting part 13 and the sliding grooves 9 can be restored to slide, the whole connecting part 13 is moved out of the sliding grooves 9, the disassembly can be completed, the whole process is simple and fast, and the working efficiency is greatly improved.
On the basis, in a further preferable mode, the connecting portion 13 includes a first limiting piece 18, a second limiting piece 17 and a connecting column 19, two ends of the connecting column 19 are respectively connected to the first limiting piece 18 and the second limiting piece 17, and the first limiting piece 18 and the second limiting piece 17 are fixed through the connecting column 19.
One surface of the first limiting sheet 18, which is far away from the second limiting sheet 17, is connected with the output end of the first motor 11.
By adopting the structure, the first limiting sheet 18 and the second limiting sheet 17 form a clamping space between the first limiting sheet 18 and the second limiting sheet 17, the sliding chute 9 can be clamped, and the connecting column 19 plays a role in sliding guide.
In addition, in a more preferable mode, the slide groove 9 includes a slide groove 15 and a guide groove 14, and the slide groove 15 and the guide groove 14 are communicated with each other.
The shape of the second limiting sheet 17 is matched with that of the sliding groove 15, the second limiting sheet 17 can slide in the sliding groove 15, the shape of the connecting column 19 is matched with that of the guide groove 14, so that the connecting column 19 can slide in the guide groove 14, and the first limiting sheet 18 is located on the outer surface of the outer shell 10 and slides.
Adopt above-mentioned structure, spacing piece two 17 slides in the sliding tray, carry out the spacing of slip direction, spliced pole 19 passes guide way 14, make spacing piece two 17 and spacing piece one 18 fixed connection, in addition, guide way 14 has also decided the movement track of whole connecting portion 13, spacing piece one 18 sets up the outside at spout 9, the surface of shell body 10 promptly, let spacing piece one 18 and spacing piece two 17 form a centre gripping space, prevent that connecting portion 13 from when sliding, take place to sway, under the clamping of spacing piece one 18 and spacing piece two 17, can avoid the condition of swaing as far as possible, reduce the pressure of spliced pole 19 and spacing piece two 17 junction, reduce cracked probability.
In addition, in a further preferable mode, a screw 21 is fixedly provided on one surface of the first stopper piece 18 close to the yoke 4, a threaded sleeve 20 is connected to the screw 21 by a thread, and the threaded sleeve 20 can move up and down relative to the screw 21 by the thread connection.
The screw 21 and the thread bush 20 are arranged between the first limiting piece 18 and the fork arm 4, the screw 21 is fixed on the first limiting piece 18, the thread bush 20 is sleeved on the screw 21, the thread bush 20 can move up and down along the screw 21 through threaded connection, so that the total length of the screw 21 and the thread bush 20 can be changed, the upper surface of the thread bush 20 is jacked to the fork arm 4 in the lifting process of the thread bush 20, the thread bush 20 can assist in fixing the first limiting piece 18, the connecting part 13 is fixed for the second time, the connecting part 13 is prevented from loosening, and specifically, the total length of the screw 21 and the thread bush 20 needs to be larger than the closest distance between the first limiting piece 18 and the fork arm 4.
On the basis, in a further preferable mode, the mechanical arm 3 comprises a base 8, a first rotating head 7, a large arm 1 and a second rotating head 2, the first rotating head 7 is rotatably connected to the base 8, one end of the large arm 1 is rotatably connected to the first rotating head 7, and the other end of the large arm 1 is connected to one end of the second rotating head 2.
On the basis, in a further preferable mode, one end, far away from the yoke arm 4, of the fork seat 6 is rotated to one end, far away from the large arm 1, of the rotary head 2 through the motor two 5, and the fork seat 6 can be driven to rotate through the motor two 5, so that the machining tool bit 12 can have machining angles in more directions.
On the basis, in a further preferred mode, a third motor 22 and a machining tool bit 12 are further arranged in the outer shell 10, the machining tool bit 12 is fixedly connected to an output end of the third motor 22, the third motor 22 is fixed in the outer shell 10, and the third motor 22 is a rotary power source of the machining tool bit 12, so that the machining tool bit 12 starts to rotate to perform normal machining
The third motor 22 is preferably an ultra-high-speed permanent magnet direct current brushless motor, is ultra-silent and low in resonance, is powered by a direct current power supply of the robot system, and is higher in stability and controllability. Digital stepless speed regulation is adopted to provide ideal required power for machining and cutting.
On the basis, in a further preferable mode, a fixing support is further provided, two ends of the fixing support are fixed to the inner surface of the outer shell 10, and the motor three 22 is fixed in the fixing support.
On the basis, in a further preferable mode, a rolling bearing is arranged between the output end of the motor three 22 and the outer shell 10, so that the output end of the motor three 22 and the outer shell 10 can slide more smoothly.
The working principle of the embodiment is that the first limiting piece 18 of the connecting part 13 is fixed at the output end of the first motor 11 in the yoke 4, the sliding groove 9 on the outer shell 10 is aligned with the connecting part 13, the connecting part 13 is embedded into the sliding groove 9, so that the outer shell 10 only has one degree of freedom, namely, the outer shell slides back and forth along the direction of the sliding groove 9, when the outer shell 10 slides to a proper position, the electromagnet is electrified, the connecting part 13 is firmly adsorbed and fixed, and the convenience in disassembling the outer shell 10 and the free change of the relative position of the outer shell and the yoke are realized.
On the other hand, the first motor 11 can drive the whole outer shell 10 to rotate, so that the processing tool bit 12 installed in the outer shell 10 can perform multi-angle processing. The base 8, the first rotary head 7, the large arm 1 and the second rotary head 2 in the mechanical arm 3 can enable the outer shell 10 to rotate in 3 directions of x, y and z axes, specifically, the first rotary head 7 rotates around the base 8 on the z axis, the large arm 1 rotates around the first rotary head 7 or the second rotary head 2 on the x axis, and the fork seat 6 rotates around the second rotary head 2 on the y axis through the second motor 5.
Example two
On the basis of the first embodiment, there is further provided a method for using a high-speed finishing multi-joint robot, including the steps of implementing a high-speed finishing multi-joint robot mentioned in the first embodiment:
the teaching programming method comprises a teaching programming mode and a figure file programming mode, wherein a programmed program is imported into a system of the multi-joint robot through the teaching programming mode or the figure file programming mode;
the system of the multi-joint robot processes the workpiece to be processed according to the imported program;
selecting a teaching programming mode, making marks on the surface of a workpiece to be processed in advance, and marking the initial position of the original point of the processed workpiece;
starting teaching programming according to the origin mark;
importing the compiled degree into a system of the multi-joint robot;
or, selecting a use diagram file programming mode, and drawing a two-dimensional plane diagram to be processed;
marking the initial position of the origin on the drawn two-dimensional plane graph;
and importing the drawn two-dimensional plane graph with the origin starting position into the system of the multi-joint robot.
Specifically, the teaching programming mode refers to programming by manually guiding a robot end effector (a gripper, a tool, a welding gun, a spray gun, etc. installed at the end of a robot joint structure), or manually guiding a mechanical simulation device, or by using a teach pendant (a hand-held device connected to a control system for programming or moving the robot) to make the robot perform a desired motion.
And a teaching programming mode, namely marking the surface of the workpiece to be processed in advance, processing the initial position of the original point of the workpiece, and starting teaching programming according to the original point mark. The programming is divided into idle movement, waiting and processing modes, the idle movement and the processing can set the speed, and the waiting can set the time by self.
And in a drawing file programming mode, drawing a two-dimensional plane figure to be processed, preparing an original point starting position for the figure, connecting a lead-in system by using a USB interface for communication, storing a document, and automatically identifying the required processing position and tolerance and automatically adjusting the idle movement and the processing speed by the system. In order to avoid workpiece waste caused by drawing errors, the processing path simulation can be carried out to modify, two-dimensional plane graphic software modification is not required to be returned, and functions such as parameter modification, deletion or processing position change can be directly carried out on the demonstrator.
The small-size machining center of perfect replacement part tradition, and more high-efficient, the operation is simpler, and it is more convenient to maintain.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The high-speed finish machining multi-joint robot is characterized by comprising a mechanical arm (3), a fork opening seat (6) and an outer shell (10), wherein the fork opening seat (6) comprises two fork arms (4), two sides of the outer shell (10) are detachably connected between the two fork arms (4), and one end, far away from the fork arms (4), of the fork opening seat (6) is rotatably connected to the mechanical arm (3);
two all be equipped with motor (11) in yoke (4), the fixed connecting portion (13) that are equipped with of output of motor (11), spout (9) have been seted up to the both sides of shell body (10), connecting portion (13) are in sliding connection in spout (9), the internal surface of shell body (10) is equipped with electro-magnet (16), connecting portion (13) are magnetism to inhale nature metal.
2. The high-speed finish machining multi-joint robot according to claim 1, wherein the connecting portion (13) comprises a first limiting piece (18), a second limiting piece (17) and a connecting column (19), the connecting column (19) is connected between the first limiting piece (18) and the second limiting piece (17), and one surface, far away from the second limiting piece (17), of the first limiting piece (18) is connected with an output end of the first motor (11).
3. The high-speed finish machining articulated robot according to claim 2, wherein the sliding groove (9) comprises a sliding groove (15) and a guide groove (14), the second limiting piece (17) slides in the sliding groove (15), the connecting column (19) slides in the guide groove (14), and the first limiting piece (18) slides on the outer surface of the outer shell (10).
4. The high-speed finish machining multi-joint robot according to claim 2, wherein a screw rod (21) and a threaded sleeve (20) are arranged on one surface, close to the fork arm (4), of the first limiting piece (18), the screw rod (21) is vertically arranged on the first limiting piece (18), and the threaded sleeve (20) is sleeved on the screw rod (21).
5. The high-speed finish machining multi-joint robot according to claim 1, wherein the mechanical arm (3) comprises a base (8), a first turning head (7), a large arm (1) and a second turning head (2), the first turning head (7) is rotatably connected to the base (8), one end of the large arm (1) is rotatably connected to the first turning head (7), and the other end of the large arm (1) is connected to one end of the second turning head (2).
6. The high-speed finish machining multi-joint robot is characterized in that one end, far away from the fork arm (4), of the fork seat (6) is rotated to one end, far away from the large arm (1), of the rotary head II (2) through a motor II (5).
7. The high-speed finish machining multi-joint robot according to claim 6, wherein a motor III (22) and a machining tool bit (12) are further arranged in the outer shell (10), the machining tool bit (12) is fixedly connected to an output end of the motor III (22), and the motor III (22) is fixed in the outer shell (10).
8. The high-speed finish machining multi-joint robot according to claim 7, wherein a fixing bracket is further arranged, two ends of the fixing bracket are fixed on the inner surface of the outer shell (10), and the motor III (22) is fixed in the fixing bracket.
9. The high-speed finish machining articulated robot of claim 8, wherein a rolling bearing is arranged between the output end of the motor three (22) and the outer shell (10).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121911742.1U CN215701679U (en) | 2021-08-16 | 2021-08-16 | High-speed finish machining multi-joint robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121911742.1U CN215701679U (en) | 2021-08-16 | 2021-08-16 | High-speed finish machining multi-joint robot |
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| CN215701679U true CN215701679U (en) | 2022-02-01 |
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| CN202121911742.1U Active CN215701679U (en) | 2021-08-16 | 2021-08-16 | High-speed finish machining multi-joint robot |
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- 2021-08-16 CN CN202121911742.1U patent/CN215701679U/en active Active
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