CN216067456U

CN216067456U - Multi-shaft manipulator

Info

Publication number: CN216067456U
Application number: CN202122154875.5U
Authority: CN
Inventors: 廖锦河; 杜富星; 陈兴然
Original assignee: Guangdong Haoyun Technology Co Ltd
Current assignee: Guangdong Haoyun Technology Co Ltd
Priority date: 2021-09-07
Filing date: 2021-09-07
Publication date: 2022-03-18
Anticipated expiration: 2031-09-07

Abstract

The utility model relates to the field of automation equipment, and provides a multi-axis manipulator which comprises a first unit body, wherein the first unit body comprises a first base, a first rotating mounting disc and a first driving flange, and a first transmission gear meshed with the first rotating mounting disc is arranged on the first driving flange; the second unit body comprises a second base, a second rotary mounting disc and a second driving flange, and a second transmission gear meshed with the second rotary mounting disc is arranged on the second driving flange; the third unit body comprises a third base, a third rotary mounting disc and a third driving flange, and a third transmission gear meshed with the third rotary mounting disc is arranged on the third driving flange; the rotating shafts of the first rotating installation disc, the second rotating installation disc and the third rotating installation disc are vertical to each other. The multi-axis manipulator can realize more flexible movement, and has simple and small structure.

Description

Multi-shaft manipulator

Technical Field

The utility model relates to the field of automation equipment, in particular to a multi-axis manipulator.

Background

The multi-axis manipulator commonly used in industry is divided into three axes, four axes, five axes, six axes and the like according to the number of degrees of freedom, namely three degrees of freedom, four degrees of freedom, five degrees of freedom, six degrees of freedom and the like. One of the multi-axis manipulators is a "truss-type manipulator" which can move along three XYZ coordinate axes, and is also called a rectangular coordinate manipulator. The manipulator can drive the manipulator execution end to move to any position of a set certain space region along a coordinate axis, and is widely applied to the field of automation. However, the multi-axis manipulator can only move along the coordinate axis and cannot rotate along the coordinate axis, so that the multi-axis manipulator is inconvenient for operation in specific occasions (such as operation of grabbing and loosening an agricultural machine filter element in agricultural machinery), and has a complex structure and a large body shape.

In addition, some manipulators with small size can realize rotation, but can only realize rotation with two degrees of freedom on a plane, and cannot meet the requirement of realizing rotation with three degrees of freedom in space, so that the spatial posture is not completely adjusted, and the required flexibility cannot be achieved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a multi-axis manipulator which has at least three degrees of freedom, can realize more flexible movement, and has a simple and small structure.

Based on this, the present invention provides a multi-axis robot including:

the first unit body comprises a first base, a first rotary mounting disc and a first driving flange, wherein the first rotary mounting disc is rotatably arranged on the first base, the first driving flange is positioned on one side of the first rotary mounting disc, and a first transmission gear meshed with the first rotary mounting disc is arranged on the first driving flange;

the second unit body comprises a second base arranged on the first rotary mounting disc, a second rotary mounting disc arranged on the second base in a rotatable mode and a second driving flange positioned on one side of the second rotary mounting disc, and a second transmission gear meshed with the second rotary mounting disc is arranged on the second driving flange;

the third unit body comprises a third base arranged on the second rotary mounting disc, a third rotary mounting disc arranged on the third base in a rotatable manner and a third driving flange positioned on one side of the third rotary mounting disc, and a third transmission gear meshed with the third rotary mounting disc is arranged on the third driving flange;

and the rotating shafts of the first rotating installation disc, the second rotating installation disc and the third rotating installation disc are vertical to each other pairwise.

The multi-axis manipulator as described above, wherein the first base and the first rotary mounting plate form a hollow structure along a rotation axis direction of the first rotary mounting plate;

the second base and the second rotary mounting disc form a hollow structure along the rotating shaft direction of the second rotary mounting disc;

the third base and the third rotary mounting disc form a hollow structure along the rotating shaft direction of the third rotary mounting disc.

The multi-axis manipulator comprises a first base, a first mounting flange and a second mounting flange, wherein the first base comprises a first support and the first mounting flange is mounted on the first support, the first driving flange and the first rotating mounting disc are located on the first mounting flange, and a first accommodating hole for allowing the first driving flange to be mounted is formed in the first support.

As above multi-axis manipulator, first support includes bedplate, riser and reinforcing plate, the riser is located perpendicularly on the bedplate, the reinforcing plate is located on the riser with one side that first mounting flange carried on the back mutually and with the bedplate is connected.

The multi-axis manipulator comprises a second base, wherein the second base comprises a second support and a second mounting flange arranged on the second support, the second driving flange and a second rotating mounting disc are arranged on the second mounting flange, and a second accommodating hole for accommodating the second driving flange is formed in the second support.

As above multiaxis manipulator, the third base includes the third support and installs third mounting flange on the third support, the third drive flange with the rotatory mounting disc of third is located on the third mounting flange, the third support include the connecting plate and in first engaging lug and the second engaging lug that the both sides on a connecting plate surface stretched out perpendicularly respectively, be equipped with on the connecting plate and be used for the embedding third mounting flange's breach, first engaging lug and second engaging lug cover are established and are articulated on the second support so that the third support can wind the second support rotates, first engaging lug and second engaging lug form and are used for holding the accommodation space of third drive flange.

The multi-axis manipulator as described above, the second mounting flange is located between the second bracket and the second engaging lug, and the second engaging lug is mounted on the second rotary mounting disk.

According to the multi-shaft manipulator, the second support is provided with the rotating shaft hole which is coaxial with the second rotating installation disc, and the first connecting lug and the second connecting lug are provided with the connecting shafts which are rotatably embedded in the rotating shaft hole, so that the first connecting lug and the second connecting lug are hinged on the second support.

In the above-described multi-axis robot, the third rotary mounting plate is perpendicular to the axial direction of the third drive flange.

According to the multi-shaft manipulator, the first driving flange, the second driving flange and the third driving flange are respectively provided with a detachable driving motor.

The embodiment of the utility model has the following beneficial effects:

the multi-axis manipulator has at least three degrees of freedom, can realize flexible movement, and has the advantages of simple, small and compact structure and lower cost. Especially to being applied to and being used for snatching in the agricultural machine, elasticity agricultural machinery filter core, actions such as the elasticity threaded fastener of simulation staff, three controllable motion degree of freedom can satisfy the rotatory action requirement of X, Y, Z direction.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a multi-axis robot provided in an embodiment of the present invention.

Fig. 2 is an exploded view of fig. 1.

Fig. 3 is a front view of fig. 1.

Fig. 4 is a sectional view a-a of fig. 3.

Fig. 5 is a sectional view B-B of fig. 3.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, an embodiment of the present invention provides a multi-axis robot including: the first unit body, the second unit body and the third unit body.

The first unit body comprises a first base 1, a first rotary mounting disc 11 rotatably arranged on the first base 1 and a first driving flange 12 positioned on one side of the first rotary mounting disc 11, wherein a first transmission gear (not shown in the figure) meshed with the first rotary mounting disc 11 is arranged on the first driving flange 12; the second unit body comprises a second base 2 arranged on the first rotary mounting disc 11, a second rotary mounting disc 21 rotatably arranged on the second base 2, and a second driving flange 22 positioned on one side of the second rotary mounting disc 21, wherein a second transmission gear (not shown in the figure) meshed with the second rotary mounting disc 21 is arranged on the second driving flange 22; the third unit body comprises a third base 3 arranged on the second rotary mounting disc 21, a third rotary mounting disc 31 rotatably arranged on the third base 3, and a third driving flange 32 positioned on one side of the third rotary mounting disc 31, wherein a third transmission gear (not shown in the figure) meshed with the third rotary mounting disc 31 is arranged on the third driving flange 32; the rotating shafts of the first rotating installation disk 11, the second rotating installation disk 21 and the third rotating installation disk 31 are vertical to each other. For further application, the first driving flange 12, the second driving flange 22 and the third driving flange 32 are all provided with detachable driving motors. Different types of motors can be arranged at different positions to carry out independent control, so that the adaptive scene is more flexible.

The multi-axis manipulator of this embodiment can install on third rotatory mounting disc 31 as required and grab the mechanism of holding, and the during operation, first rotatory mounting disc 11 on the first cell body drives the second cell body and rotates, and second rotatory mounting disc 21 on the second cell body drives the third cell body and rotates, and the third rotatory mounting disc 31 of third cell body drives and grabs the mechanism and rotate to reach the set position. The multi-axis manipulator has at least three degrees of freedom, can realize flexible movement, and has the advantages of simple, small and compact structure and lower cost. In particular for application to agricultural machines: the three controllable degrees of freedom of motion can meet the requirement of X, Y, Z-direction rotation action. Of course, the method can also be applied to an automatic processing center, laser equipment, gluing equipment, detection equipment and the like to expand the shaft, process multiple surfaces, glue multiple surfaces, detect 3D and the like.

Further, the first base 1 and the first rotary mounting disk 11 form a hollow structure along the rotating shaft direction of the first rotary mounting disk 11; the second base 2 and the second rotary mounting disc 21 form a hollow structure along the rotating shaft direction of the second rotary mounting disc 21; the third base 3 and the third rotary mounting disk 31 form a hollow structure along the rotation axis direction of the third rotary mounting disk 31. Adopt hollow structure can make this multi-axis manipulator lighter weight more, and provide more abundant installation space and motion space.

In this embodiment, in order to further make the multi-axis manipulator more compact and small, the first base 1 includes the first support 101 and installs the first mounting flange 102 on the first support 101, the first driving flange 12 and the first rotating mounting disc 11 are located on the first mounting flange 102, the first support 101 is provided with the first accommodation hole 103 for the first driving flange 12 to be installed. Specifically, the first bracket 101 includes a seat plate 1011, a riser 1012 and a reinforcement plate 1013, the riser 1012 is vertically disposed on the seat plate 1011, and the reinforcement plate 1013 is disposed on a side of the riser 1012 opposite to the first mounting flange 102 and connected to the seat plate 1011.

Second base 2 includes second support 201 and installs second mounting flange 202 on second support 201, second drive flange 22 with second rotatory mounting disc 21 locates on the second mounting flange 202, be equipped with on the second support 201 and be used for the confession second drive flange 22 the second accommodation hole 203 that packs into.

Third base 3 includes third support 301 and installs third mounting flange 302 on the third support 301, third driving flange 32 with third rotary mounting disc 31 is located on the third mounting flange 302, third support 301 include connecting plate 3011 and in the both sides of connecting plate 3011 one surface respectively perpendicular first engaging lug 3012 and the second engaging lug 3013 that stretch out, be equipped with on the connecting plate 3011 and be used for the embedding notch 3014 of third mounting flange 302, first engaging lug 3012 and second engaging lug 3013 cover are established and articulate on the second support 201 so that third support 301 can wind second support 201 rotates, first engaging lug 3012 and second engaging lug 3013 form and are used for holding the accommodation space 3015 of third driving flange 32.

Further, the second mounting flange 202 is located between the second bracket 201 and the second connection lug 3013, and the second connection lug 3013 is installed on the second rotary mounting disk 21.

Furthermore, a rotating shaft hole 204 is formed in the second support 201 and is coaxial with the second rotating mounting plate 21, and the first connecting lug 3012 and the second connecting lug 3013 are provided with a connecting shaft 303 which is rotatably embedded in the rotating shaft hole 204, so that the first connecting lug 3012 and the second connecting lug 3013 are hinged to the second support 201.

Further, the third rotary mounting plate 31 is perpendicular to the axial direction of the third driving flange 32. Correspondingly, the third transmission gear on the third driving flange 32 and the third rotary mounting plate 31 are engaged bevel gears.

It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention. Furthermore, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

The foregoing is directed to the preferred embodiment of the present invention, and it is understood that various changes and modifications may be made by one skilled in the art without departing from the spirit of the utility model, and it is intended that such changes and modifications be considered as within the scope of the utility model.

Claims

1. A multi-axis robot, comprising:

the first unit body comprises a first base (1), a first rotary mounting disc (11) and a first driving flange (12), wherein the first rotary mounting disc (11) is rotatably arranged on the first base (1), the first driving flange (12) is positioned on one side of the first rotary mounting disc (11), and a first transmission gear meshed with the first rotary mounting disc (11) is arranged on the first driving flange (12);

the second unit body comprises a second base (2) arranged on the first rotary mounting disc (11), a second rotary mounting disc (21) rotatably arranged on the second base (2) and a second driving flange (22) positioned on one side of the second rotary mounting disc (21), and a second transmission gear meshed with the second rotary mounting disc (21) is arranged on the second driving flange (22);

the third unit body comprises a third base (3) arranged on the second rotary mounting disc (21), a third rotary mounting disc (31) rotatably arranged on the third base (3) and a third driving flange (32) positioned on one side of the third rotary mounting disc (31), and a third transmission gear meshed with the third rotary mounting disc (31) is arranged on the third driving flange (32);

the rotating shafts of the first rotating installation disc (11), the second rotating installation disc (21) and the third rotating installation disc (31) are vertical to each other.

2. The multi-axis robot of claim 1, wherein the first base (1) and the first rotary mounting plate (11) form a hollow structure in a direction of a rotation axis of the first rotary mounting plate (11);

the second base (2) and the second rotary mounting disc (21) form a hollow structure along the rotating shaft direction of the second rotary mounting disc (21);

the third base (3) and the third rotary mounting disc (31) form a hollow structure along the rotating shaft direction of the third rotary mounting disc (31).

3. The multi-axis robot of claim 1, wherein the first base (1) comprises a first support (101) and a first mounting flange (102) mounted on the first support (101), the first driving flange (12) and the first rotating mounting plate (11) are located on the first mounting flange (102), and a first accommodating hole (103) for accommodating the first driving flange (12) is formed in the first support (101).

4. The multi-axis robot of claim 3, wherein the first support (101) comprises a base plate (1011), a riser (1012) and a reinforcement plate (1013), the riser (1012) being vertically disposed on the base plate (1011), the reinforcement plate (1013) being disposed on the riser (1012) on a side opposite to the first mounting flange (102) and being connected to the base plate (1011).

5. The multi-axis robot as claimed in any one of claims 1 to 4, wherein the second base (2) comprises a second support (201) and a second mounting flange (202) mounted on the second support (201), the second driving flange (22) and the second rotating mounting plate (21) are disposed on the second mounting flange (202), and a second receiving hole (203) for the second driving flange (22) to be received is formed in the second support (201).

6. The multi-axis manipulator as claimed in claim 5, wherein the third base (3) comprises a third support (301) and a third mounting flange (302) mounted on the third support (301), the third driving flange (32) and the third rotating mounting disk (31) are arranged on the third mounting flange (302), the third support (301) comprises a connecting plate (3011) and a first connecting lug (3012) and a second connecting lug (3013) which respectively extend from two sides of one surface of the connecting plate (3011) vertically, a notch (3014) for embedding the third mounting flange (302) is formed in the connecting plate (3011), the first connecting lug (3012) and the second connecting lug (3013) are sleeved and hinged on the second support (201) so that the third support (301) can rotate around the second support (201), and the first connecting lug (3012) and the second connecting lug (3013) are formed to accommodate the third driving flange (32) And (3015).

7. The multi-axis robot of claim 6, wherein the second mounting flange (202) is located between the second bracket (201) and the second engaging lug (3013) is mounted on the second rotating mounting plate (21).

8. The multi-axis manipulator as claimed in claim 6, wherein the second support (201) is provided with a rotation shaft hole (204) coaxially arranged with the second rotating mounting plate (21), and the first connecting lug (3012) and the second connecting lug (3013) are provided with connecting shafts (303) rotatably embedded in the rotation shaft hole (204), so that the first connecting lug (3012) and the second connecting lug (3013) are hinged to the second support (201).

9. The multi-axis robot of claim 1, wherein the third rotary mounting disk (31) is perpendicular to the axial direction of the third drive flange (32).

10. The multi-axis robot of claim 1, wherein the first drive flange (12), the second drive flange (22) and the third drive flange (32) are provided with detachable drive motors.