CN218052688U - Two-shaft mechanical arm - Google Patents

Abstract

The utility model relates to a case packing processing technology field especially relates to a diaxon arm, including mount pad and articulated install in the main shaft of mount pad and install in servo motor A and the servo motor B that the mount pad both sides are used for the swing of drive spindle and different rotational speeds, the one end that the mount pad was kept away from to the main shaft articulates there is the oscillating axle, the articulated chuck of installing of end of oscillating axle, the main shaft articulates with the articulated department of oscillating axle has balanced connecting seat, balanced connecting seat has three articulated portion, one of them articulated portion articulates has one end and chuck articulated first balance bar, another articulated portion articulates has one end and mount pad articulated second balance bar, articulated on the oscillating axle have be connected with servo motor A output and be used for promoting oscillating axle wobbling countershaft subassembly. The utility model discloses the operation is high-speed, can handle the heavy object that the manpower can't be carried, guarantees stable labour, and production efficiency is high, and simple structure, and is easy and simple to handle, and equipment cost is low.

Description

Two-shaft mechanical arm

Technical Field

The utility model relates to a case packing processing technology field especially relates to a diaxon arm.

Background

At present, the production and manufacturing industry of China is in a high-speed development stage, and for carrying and moving articles, manual work or robots are adopted at present, and the traditional manual work has the defects of low operation speed, low efficiency, high labor intensity, incapability of carrying heavy objects and the like, so that the traditional manual work can not meet the development requirement; meanwhile, the robot equipment is expensive, the program is complex, when the robot is used in a work place where only some simple actions such as grabbing, arranging, placing and the like are needed, the robot is too wasteful, and the manual operation cannot meet the requirements of operation speed, efficiency, heavy object carrying and labor saving.

However, in the general packaging automation industry, the traditional X-axis and Y-axis assemblies are used for taking and discharging materials, boxing, unpacking and stacking, the speed is low, the structure is heavy, the maintenance is difficult, the production efficiency is low, and the capacity cannot meet the requirements.

SUMMERY OF THE UTILITY MODEL

On the basis, it is necessary to adopt X axle and Y axle subassembly to get the material blowing to the tradition, and its speed is slow, and the structure is heavy, maintains the difficulty, leads to production efficiency to be low, and the problem that the productivity can't satisfy the demand provides a diaxon arm, has simple structure, and is easy and simple to handle, and advantage with low costs can realize simple article transport action, still has that the operating speed is fast simultaneously, efficient, saves the labour and carries advantages such as heavy object.

A two-shaft mechanical arm comprises a mounting seat, a main shaft, a servo motor A and a servo motor B, wherein the main shaft is hinged to the mounting seat, the servo motor A and the servo motor B are arranged on two sides of the mounting seat and used for driving the main shaft to swing and have different rotating speeds, a swing shaft is hinged to one end, away from the mounting seat, of the main shaft, and a chuck is hinged to the tail end of the swing shaft; the hinge joint of the main shaft and the swing shaft is hinged with a balance connecting seat, the balance connecting seat is provided with three hinge parts, one hinge part is hinged with a first balance rod, one end of the first balance rod is hinged with the chuck, the other hinge part is hinged with a second balance rod, one end of the second balance rod is hinged with the mounting seat, and the third hinge part is hinged with the main shaft and the swing shaft; an auxiliary shaft assembly connected with the output end of the servo motor A and used for pushing the swing shaft to swing is hinged to the swing shaft; the mounting seat consists of a connecting plate and three vertical plates, and the three vertical plates are fixed on the connecting plate at intervals; the main shaft is fixed to form through several first connecting axles by first mainboard and second mainboard, and first articulated shaft is worn to be equipped with by the one end that first mainboard and second mainboard lie in the swing axle, and swing axle and balanced connecting seat are articulated through first articulated shaft and main shaft.

Preferably, the auxiliary shaft assembly comprises a driving shaft connected with the output end of the servo motor A and a driven shaft respectively hinged with the driving shaft and the swinging shaft.

Preferably, the first balance rod, the balance connecting seat, the swinging shaft and the chuck are connected with each other to form a parallelogram, and when the servo motor A pushes the swinging shaft to swing, the first balance rod, the balance connecting seat, the swinging shaft and the chuck are always kept in a parallel state.

Preferably, the second balance bar is parallel to the main shaft, and when the main shaft moves, the second balance bar and the main shaft are always kept in a parallel state.

Preferably, servo motor A and servo motor B install respectively on the riser of mount pad both sides, are equipped with on the riser of installing servo motor B with the articulated second articulated shaft of second balancing pole, the first mainboard of main shaft is articulated with the riser at middle part, and the second mainboard is connected with servo motor B's output.

Preferably, the swing shaft is formed by connecting and fixing a first swing plate and a second swing plate through a plurality of second connecting shafts, the driven shaft is hinged with one of the second connecting shafts, and a limiting sleeve used for limiting the driven shaft to move left and right is sleeved on the second connecting shaft.

Preferably, the first main board and the first swinging board are movably hinged with each other through one end of a first hinge shaft, and the second main board, the balance connecting seat and the second swinging board are movably hinged with each other through the other end of the hinge shaft.

Preferably, the balance connecting seat is an isosceles triangle, through holes are formed in three corners of the isosceles triangle, and the through holes are hinged parts.

Foretell diaxon arm, cooperation function through two servo motor for main shaft, countershaft subassembly and balanced connecting seat swing of mutually supporting, and can change different grabbing device through set up the chuck on countershaft subassembly, replaced the mode that X axle Y axle removed completely, but the exclusive use, also can form a complete set and use unpacking, vanning, joint sealing, pile up neatly etc. this diaxon arm can apply to various equipment on, its practicality is strong, the structure is light and handy, simple to operate, the noise is little, application range is very wide. The utility model discloses the operation is high-speed, can handle the heavy object that the manpower can't be carried, guarantees stable labour, and production efficiency is high, and simple structure, and is easy and simple to handle, and equipment cost is low.

Drawings

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

FIG. 2 is a top view of the present invention

Fig. 3 is a schematic view of the structure at a viewing angle according to the present invention;

fig. 4 is a schematic structural view of another view angle of the present invention;

fig. 5 is a schematic structural view of the mounting base of the present invention;

fig. 6 is a schematic structural view of the middle balance connecting seat of the present invention.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Referring to fig. 1-6, the present embodiment provides a two-axis robot arm, including a main shaft 10 fixedly formed by a first main plate 11 and a second main plate 12 through a plurality of first connecting shafts 13, the main shaft 10 is installed on an installation base 20, the robot arm can be installed in various devices through the installation base 20, the application range is improved, the installation base 20 is formed by a connecting plate 22 and three vertical plates 21, the three vertical plates 21 are fixed on the connecting plate 22 at intervals, a servo motor a30 and a servo motor B40 are installed on the vertical plates 21 at two sides of the installation base 20, a second hinge shaft 23 is installed on the vertical plate 21 on which the servo motor B40 is installed, the first main plate 11 of the main shaft 10 is hinged to the vertical plate 21 at the middle part, and the second main plate 12 is connected to an output end of the servo motor B40; the end of the main shaft 10 away from the mounting base 20 is hinged with a swing shaft 50, the end of the swing shaft 50 is hinged with a chuck 60, and the chuck 60 can be arranged to change into different gripping devices, such as a sucker and a clamp, so as to improve the practicability. The hinge joint of the main shaft 10 and the swing shaft 50 is hinged with a balance connecting seat 70, the balance connecting seat 70 is provided with three hinge parts 71, one hinge part 71 is hinged with a first balance rod 80, one end of the first balance rod is hinged with the chuck 60, the other hinge part 71 is hinged with a second balance rod 90, one end of the second balance rod is hinged with the second hinge shaft 23, and the first balance rod 80 and the second balance rod 90 are arranged to enable the mechanical arm to swing completely and freely without shaking, so that the grabbing stability is improved; a secondary shaft assembly 100 connected with the output end of the servo motor A30 and used for pushing the swing shaft 50 to swing is hinged on the swing shaft 50, and the secondary shaft assembly 100 comprises a driving shaft 101 connected with the output end of the servo motor A30 and a driven shaft 102 respectively hinged with the driving shaft 101 and the swing shaft 50. Through the cooperation of the two servo motors, the main shaft 10, the auxiliary shaft assembly 100 and the balance connecting seat 70 are mutually matched and swung, so as to drive the fixture to swing up and down and back and forth.

Further, the swing shaft 50 is formed by fixedly connecting a first swing plate 51 and a second swing plate 52 through a plurality of second connecting shafts 53, the first main plate 11 and the first swing plate 51 of the main shaft 10 are movably hinged to each other through one end of a first hinge shaft 14, the second main plate 12 of the main shaft 10, a third hinge portion of the balance connecting seat 70 and the second swing plate 52 are movably hinged to each other through the other end of the first hinge shaft 14, the driven shaft 102 is hinged to one of the second connecting shafts 53, and a limiting sleeve 54 for limiting the driven shaft 102 to move left and right is sleeved on the second connecting shaft 53. The main shaft 10 is composed of a first main plate 11 and a second main plate 12, and the swing shaft 50 is composed of a first swing plate 51 and a second swing plate 52, so that the mechanical arm is light in structure, convenient to mount and low in noise during operation.

In addition, the balance connecting seat 70 is an isosceles triangle, through holes are formed at three corners of the isosceles triangle, the through holes are hinge portions 71, the first balance rod 80, the second balance rod 90 and the first hinge shaft 14 are connected with the three through holes 72 of the isosceles triangle, the first balance rod 80, the balance connecting seat 70, the swing shaft 50 and the chuck 60 are connected with each other to form a parallelogram, when the servo motor a30 pushes the swing shaft 50 to swing, the first balance rod 80, the balance connecting seat 70, the swing shaft 50 and the chuck 60 are always kept in a parallel state, the second balance rod 90 is parallel to the main shaft 10, when the main shaft 10 moves, the second balance rod 90 and the main shaft 10 are always kept in a parallel state, so that the balance and stability of the main shaft 10 and the auxiliary shaft are ensured in the operation process of the mechanical arm, and the mechanical arm is prevented from shaking when the mechanical arm grabs materials.

The utility model discloses a theory of operation: the servo motor A30 and the servo motor B40 are controlled to operate to drive the main shaft 10 and the auxiliary shaft to rotate, and then the chuck 60 arranged at the end part of the swing shaft 50 moves up and down and left and right under the action of a link mechanism consisting of the main shaft 10, the auxiliary shaft, the swing shaft 50, the first balance rod 80, the second balance rod 90 and the balance connecting seat 70, so that the position of a clamp arranged on the chuck 60 moves.

The two-shaft mechanical arm operates in a matching mode through the two servo motors, so that the main shaft 10, the auxiliary shaft assembly 100 and the balance connecting seat 70 are matched and swing with each other, different grabbing devices can be replaced by arranging the clamping heads 60 on the auxiliary shaft assembly 100, the moving mode of the X shaft and the Y shaft is completely replaced, the two-shaft mechanical arm can be used independently, box opening, box packing, box sealing, stacking and the like can also be used in a matched mode, the two-shaft mechanical arm can be applied to various devices, and the two-shaft mechanical arm is high in practicability, light in structure, convenient to install, low in noise and wide in application range. The utility model discloses the operation is high-speed, can handle the heavy object that the manpower can't be carried, guarantees stable labour, and production efficiency is high, and simple structure, and is easy and simple to handle, and equipment cost is low.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims (8)

1. A two-shaft mechanical arm comprises a mounting seat, a main shaft, a servo motor A and a servo motor B, wherein the main shaft is hinged to the mounting seat, and the servo motor A and the servo motor B are arranged on two sides of the mounting seat and used for driving the main shaft to swing and have different rotating speeds; a balance connecting seat is hinged at the hinge joint of the main shaft and the swinging shaft, the balance connecting seat is provided with three hinge parts, one hinge part is hinged with a first balance rod, one end of the first balance rod is hinged with the chuck, the other hinge part is hinged with a second balance rod, one end of the second balance rod is hinged with the mounting seat, and the third hinge part is hinged with the main shaft and the swinging shaft; an auxiliary shaft assembly connected with the output end of the servo motor A and used for pushing the swing shaft to swing is hinged to the swing shaft; the mounting seat consists of a connecting plate and three vertical plates, and the three vertical plates are fixed on the connecting plate at intervals; the main shaft is fixed to form through several first connecting axles by first mainboard and second mainboard, and first articulated shaft is worn to be equipped with by the one end that first mainboard and second mainboard are located the oscillating axle, and oscillating axle and balanced connecting seat are articulated through first articulated shaft and main shaft.

2. Two-axis robot arm according to claim 1, characterized in that the secondary axis assembly comprises a driving axis connected to the output of the servomotor a and a driven axis hinged to the driving axis and to the oscillating axis, respectively.

3. The two-axis mechanical arm of claim 1, wherein the first balance bar, the balance connecting seat, the swing shaft and the chuck are connected to form a parallelogram, and the first balance bar, the balance connecting seat, the swing shaft and the chuck are always kept in parallel when the servo motor a pushes the swing shaft to swing.

4. The two-axis robot arm of claim 1, wherein the second balance bar is parallel to the main axis, and the second balance bar is always parallel to the main axis when the main axis moves.

5. The two-axis mechanical arm of claim 1, wherein the servo motor a and the servo motor B are respectively mounted on vertical plates on two sides of the mounting seat, a second hinge shaft hinged to the second balance bar is arranged on the vertical plate on which the servo motor B is mounted, the first main plate of the main shaft is hinged to the vertical plate in the middle, and the second main plate is connected to an output end of the servo motor B.

6. The two-axis mechanical arm as claimed in claim 1 or 2, wherein the swing shaft is formed by connecting and fixing a first swing plate and a second swing plate through a plurality of second connecting shafts, the driven shaft is hinged to one of the second connecting shafts, and a stop collar for limiting the driven shaft to move left and right is sleeved on the second connecting shaft.

7. The two-axis robot arm of claim 6, wherein the first main plate and the first swing plate are movably hinged to each other by one end of a first hinge shaft, and the second main plate, the balance connecting seat, and the second swing plate are movably hinged to each other by the other end of a hinge shaft.

8. The two-axis mechanical arm of claim 1, wherein the balance connecting base is an isosceles triangle, and through holes are formed at three corners of the isosceles triangle and are hinged parts.

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