CN219854579U - Six-axis mechanical arm device - Google Patents

Abstract

The utility model discloses a six-axis mechanical arm device, which comprises: a base in which a rotary driving element is arranged; the rotating seat is rotatably arranged on the base and is driven to rotate by the rotary driving element; the two sides of the rotating seat are respectively provided with a first driving piece and a second driving piece; the driving end of the second driving piece can rotate, and the rotating shaft extends out along the radial direction to form a swinging end; one end of a push-pull rod is hinged to the swing end; first movable arm: one end of the first movable arm is hinged with the rotating seat and connected with the driving end of the first driving piece, and the first movable arm is driven by the first driving piece to swing on the rotating seat; the other end is hinged to one part of the second movable arm; second movable arm: one end of the sliding rod is hinged with the other end of the sliding rod, the first movable arm, the second movable arm and the sliding rod form a variable quadrilateral structure, and the other end of the sliding rod is hinged with a two-shaft movable part; third driving piece: the second movable arm is arranged on the first movable arm, and the driving two-shaft movable part swings relative to the second movable arm. The utility model can move in space with multiple degrees of freedom.

Description

Six-axis mechanical arm device

Technical Field

The utility model relates to the field of manufacturing automation, in particular to a six-axis manipulator device.

Background

The manipulator is an important component for realizing manufacturing automation, and can better bear the operation process of monotonous repetition and high strength; in the vertical, horizontal, gantry machining centers and numerical control boring and milling machines on the production line of the boring and milling unit, in the machining process, the work piece carrying, the piece taking, the loading and unloading and other feeding and unloading operations, the work piece overturning and the working procedure conversion need to be manually carried, and the risks of falling and scratching workers in the carrying process of the work piece exist at the same time of low efficiency.

There is therefore a need for a manipulator that can have multiple degrees of freedom in space.

Disclosure of Invention

The present utility model aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, the utility model aims to provide a six-axis manipulator device which realizes operations such as automatic feeding and discharging through a structure with multiple degrees of freedom moving in space.

To achieve the above object, an embodiment of the present utility model provides a six-axis manipulator device, including: and (2) base: a rotary driving element is arranged in the base; a rotating seat: the rotary driving element drives the base to rotate; the two sides of the rotating seat are respectively provided with a first driving piece and a second driving piece; the driving end of the second driving piece can rotate, and the rotating shaft extends out along the radial direction to form a swinging end; one end of a push-pull rod is hinged to the swing end; first movable arm: two flat plates which are oppositely arranged and a plurality of connecting rods form a space structure, one end of the space structure is hinged with the rotating seat and is connected with the driving end of the first driving piece, and the space structure drives the first movable arm to swing on the rotating seat; the other end is hinged to one part of the second movable arm; second movable arm: two flat plates which are oppositely arranged and a plurality of connecting rods form a space structure, one end of the space structure is hinged with the other end of the push-pull rod, the first movable arm, the second movable arm and the push-pull rod form a variable quadrilateral structure, and the other end of the space structure is hinged with a two-axis movable part; third driving piece: the second movable arm is arranged on the first movable arm, and the driving two-shaft movable part swings relative to the second movable arm.

According to the six-axis mechanical arm device provided by the embodiment of the utility model, as the rotating seat can rotate relative to the base, the first movable arm, the second movable arm and the pull rod form a variable quadrilateral structure, and the second movable arm is provided with the two-axis movable part, so that the six-axis movement of the device can be realized in space.

In addition, the six-axis manipulator device according to the above embodiment of the present utility model may further have the following additional technical features:

optionally, the rotary driving element comprises a rotary driving motor and a speed change gear box, a through hole for a cable to pass through is formed in the speed change gear box, and the base correspondingly forms a through hole.

Optionally, the two-axis movable part comprises a movable frame and a rotary platform, the movable frame is hinged with the second movable arm and extends out along a rotary shaft between the movable frame and the second movable arm to form a structure which is connected with the third driving piece and can transmit torque; the movable frame is provided with a movable motor for driving the rotary platform to rotate, and the rotary platform is provided with a rotary motor which can be connected with an external structure.

Further, the movable frame is connected with the third driving piece through a synchronous belt.

Optionally, the first driving piece is a gear motor, and the first movable arm is connected with a speed reducer of the gear motor.

Optionally, a limiting piece is arranged in the rotating seat, and the swinging angle of the first movable arm is set.

Drawings

FIG. 1 is a block diagram of a first angle according to one embodiment of the utility model;

FIG. 2 is a block diagram of a second angle according to one embodiment of the utility model;

FIG. 3 is a block diagram of a third angle according to one embodiment of the utility model;

fig. 4 is a block diagram of a third angle according to one embodiment of the utility model.

Description of the reference numerals:

base 1 rotary drive element 11

Limiting piece 23 of swinging end 221 of first driving piece 21 and second driving piece 22 of rotating seat 2

Push-pull rod 3

First movable arm 4

Second movable arm 5

Two-axis movable part 6 movable frame 61 movable motor 611, rotary platform 62 and rotary motor 621

And a third driving member 7.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present utility model and should not be construed as limiting the utility model.

According to the utility model, as the rotating seat can rotate relative to the base, the first movable arm, the second movable arm and the pull rod form a variable quadrilateral structure, and the second movable arm is provided with the two-axis movable part, so that the device can realize six-axis movement in space.

In order that the above-described aspects may be better understood, exemplary embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Fig. 1 to 3 are views showing a six-axis manipulator device according to an embodiment of the present utility model, including:

base 1: a rotary driving element 11 is arranged in the base 1; the base 1 can fix the device and cooperate with other devices, and various circuit connectors and the like of the device are also accommodated in the base 1.

Swivel base 2: the base 1 is rotatably arranged, and is driven to rotate by the rotary driving element 11; the two sides of the rotating seat 2 are respectively provided with a first driving piece 21 and a second driving piece 22; the driving end of the second driving member 22 is rotatable, and the rotating shaft extends out in the radial direction to form a swinging end 221; one end of the push-pull rod 3 is hinged on the swinging end 221; the rotating seat 2 is used for bearing the downward transmission of the upper movable structure such as axial force, torque, shearing force and the like, so as shown in fig. 1-4, the structure comprises a lower bottom plate and two side plates, and reinforcing ribs are arranged between the bottom plates;

first movable arm 4: two flat plates which are oppositely arranged and a plurality of connecting rods form a space structure, one end of the space structure is hinged with the rotating seat 2 and is connected with the driving end of the first driving piece 21, and the space structure drives the first movable arm 4 to swing on the rotating seat 2; the other end is hinged at one position of the second movable arm 5; compared with a common fully-closed structure of the movable arm of the mechanical arm, the device can reduce the manufacturing cost through a space structure formed by a flat plate and a connecting rod, and the rotary seat 2 and the base 1 can be formed by cutting and then processing the plate, so that the cost is reduced;

second movable arm 5: two flat plates which are oppositely arranged and a plurality of connecting rods form a space structure, one end of the space structure is hinged with the other end of the push-pull rod 3, the first movable arm 4, the second movable arm 5 and the push-pull rod 3 form a variable quadrilateral structure, and the other end of the space structure is hinged with a two-axis movable part 6; one side of the variable quadrangle may be the swinging end 221 on the second driving member 22, so that when the second driving member 22 moves, since the other three sides are rigid bodies and hinged to each other, the change of one side can force the variable quadrangle to change geometrically, so as to realize the pitching adjustment of the second movable arm 5.

Third driving piece 7: the second movable arm 5 is arranged on the main body, and the driving two-shaft movable part 6 swings relative to the second movable arm 5; the two-axis movable member is free in space relative to the other two axes in addition to its hinged relationship with the second movable arm 5, and in combination with the third driving member 7, three-axis movement of a device such as a clamping jaw provided on the two-axis movable member is achieved.

In some embodiments, the rotary driving element 11 comprises a rotary driving motor and a speed change gearbox, in which a through hole is formed for the cable to pass through, and the base 1 is correspondingly formed with a through hole, which facilitates the internal wiring of the device.

In some embodiments, the two-axis movable part 6 comprises a movable frame 61 and a rotary platform 62, the movable frame 61 is hinged with the second movable arm 5, and extends along a rotation axis between the movable frame 61 and the second movable arm to form a structure which is connected with the third driving piece 7 and can transmit torque; the movable frame 61 is provided with a movable motor 611 for driving the rotary platform 62 to rotate, and the rotary platform 62 is provided with a rotary motor 621 connectable with an external structure. Further, the movable frame 61 and the third driving element 7 are connected by a timing belt, and a cover may be added to the outside of the timing belt to improve the running stability of the components.

In some embodiments, the first driving member 21 is a gear motor, and the first movable arm 4 is connected to a speed reducer of the gear motor.

In some embodiments, a limiting member 23 is disposed in the rotating seat 2, and the swing angle of the first movable arm 4 is set.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms should not be understood as necessarily being directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims (6)

1. A six-axis manipulator device, which is characterized in that: comprising the following steps:

and (2) base: a rotary driving element is arranged in the base;

a rotating seat: the rotary driving element drives the base to rotate; the two sides of the rotating seat are respectively provided with a first driving piece and a second driving piece; the driving end of the second driving piece can rotate, and the rotating shaft extends out along the radial direction to form a swinging end; one end of a push-pull rod is hinged to the swing end;

first movable arm: two flat plates which are oppositely arranged and a plurality of connecting rods form a space structure, one end of the space structure is hinged with the rotating seat and is connected with the driving end of the first driving piece, and the space structure drives the first movable arm to swing on the rotating seat; the other end is hinged to one part of the second movable arm;

second movable arm: two flat plates which are oppositely arranged and a plurality of connecting rods form a space structure, one end of the space structure is hinged with the other end of the push-pull rod, the first movable arm, the second movable arm and the push-pull rod form a variable quadrilateral structure, and the other end of the space structure is hinged with a two-axis movable part;

third driving piece: the second movable arm is arranged on the first movable arm, and the driving two-shaft movable part swings relative to the second movable arm.

2. The six axis robot apparatus of claim 1 wherein: the rotary driving element comprises a rotary driving motor and a speed change gear box, a through hole for a cable to pass through is formed in the speed change gear box, and a through hole is correspondingly formed in the base.

3. The six axis robot apparatus of claim 1 wherein: the two-axis movable part comprises a movable frame and a rotary platform, the movable frame is hinged with the second movable arm and extends out along a rotary shaft between the movable frame and the second movable arm to form a structure which is connected with the third driving piece and can transmit torque; the movable frame is provided with a movable motor for driving the rotary platform to rotate, and the rotary platform is provided with a rotary motor which can be connected with an external structure.

4. The six axis robot apparatus of claim 3 wherein: the movable frame is connected with the third driving piece through a synchronous belt.

5. The six axis robot apparatus of claim 1 wherein: the first driving piece is a speed reducing motor, and the first movable arm is connected with a speed reducer of the speed reducing motor.

6. The six axis robot apparatus of claim 1 wherein: and a limiting part is arranged in the rotating seat, and the swinging angle of the first movable arm is set.