CN222818949U - Five-axis robot structure - Google Patents

Abstract

The utility model discloses a five-axis robot structure. The technical scheme includes that the automatic clamping device comprises a fixed seat, wherein three motor seats are arranged on the fixed seat, each motor seat is provided with a servo motor, an output shaft of each servo motor is connected with a swing arm, the tail end of each swing arm is respectively and rotatably connected with a connecting rod group, the tail ends of all the connecting rod groups are jointly and rotatably connected to a chassis, a clamping power assembly and a rotating power assembly are arranged on the fixed seat, the clamping power assembly comprises a clamping servo speed reducer and a clamping shaft arranged in the clamping servo speed reducer, the rotating power assembly comprises the rotating servo speed reducer and a rotating shaft arranged in the rotating servo speed reducer, and the clamping shaft is embedded in the rotating shaft through a ball bearing. The scheme provided by the utility model can rotate the product, provides a clamping power source, is more flexible and faster, can be used for efficiently and quickly arranging and combining the luggage products, and is suitable for quick arrangement before stacking.

Description

Five-axis robot structure

Technical Field

The utility model relates to the technical field of conveying equipment, in particular to a five-axis robot structure.

Background

Prior art bag handling machines are typically located at a station in front of the stacker that functions to adjust the product to the same orientation and position. The patent number 202021556473.7 of China discloses a spider manipulator for food boxing, and the technical scheme has the advantages of high grabbing and carrying efficiency and flexible adjustment mode, and has the defects that the direction of a product cannot be adjusted by rotating the product, the grabbing of the product cannot be realized, and the whole structure is heavy, so that the running speed is influenced.

Disclosure of utility model

Aiming at the defects of the prior art, the main purpose of the utility model is to provide a five-axis robot structure which can rotate products, provide a clamping power source and is more flexible and faster.

In order to achieve the purpose, the five-axis robot structure comprises a fixed seat, three motor bases are arranged on the fixed seat, a servo motor is arranged on each motor base, an output shaft of each servo motor is connected with a swing arm, the tail end of each swing arm is respectively and rotatably connected with a connecting rod group, the tail ends of all the connecting rod groups are jointly and rotatably connected to a chassis, a clamping power assembly and a rotating power assembly are arranged on the fixed seat, the clamping power assembly comprises a clamping servo speed reducer and a clamping shaft arranged in the clamping servo speed reducer, the rotating power assembly comprises the rotating servo speed reducer and a rotating shaft arranged in the rotating servo speed reducer, the clamping shaft is embedded in the rotating shaft through a ball bearing, the clamping shaft is connected with a clamping long shaft through an upper universal joint, the lower end of each clamping short shaft is provided with a synchronous wheel, the rotating shaft is connected with an upper universal joint, the upper universal joint is connected with the rotating long shaft, the bottom of the rotating long shaft is arranged at the bottom of the rotating shaft, the rotating shaft is connected with the rotating disc through a lower universal joint, and the rotating shaft is connected with the rotating disc through a long shaft.

Preferably, the connecting rod group comprises two connecting rods, and two ends of each connecting rod are respectively connected with the swing arm and the chassis in a rotating way through pin shafts.

Preferably, the top of the clamping shaft is provided with a top cover.

Preferably, the shape of the fixing seat is Y-shaped.

Compared with the prior art, the five-axis parallel connection packet arranging module has the advantages that based on the design of the spider manipulator, the five-axis parallel connection packet arranging module drives the swing arm to act through the three servo motors, the swing arm is rotationally connected with the connecting rod group, and the movement of the chassis in three directions of XYZ axes can be realized by controlling the rotation angles of the three servo motors, so that the five-axis parallel connection packet arranging module is the same as the structure and principle of the spider manipulator in the prior art. The clamping power assembly and the rotating power assembly which are arranged in a superposition mode are creatively designed by the bag sorting machine, the clamping power assembly drives the clamping shaft to rotate through the clamping servo speed reducer, the rotating servo speed reducer of the rotating power assembly drives the rotating shaft to rotate, and the clamping shaft is embedded in the rotating shaft through the ball bearing, so that the rotation of the clamping shaft and the rotation of the rotating shaft do not interfere with each other. The working process of the clamping power assembly is that the clamping shaft is connected with the clamping long shaft through the upper universal coupling, the clamping long shaft drives the clamping short shaft to rotate through the lower universal coupling, the synchronous wheel on the clamping short shaft is matched with the synchronous belt of the gripper module, the clamping short shaft is connected with the rotating disc through the ball bearing, and therefore the clamping short shaft is not interfered with the chassis. The working process of the rotary power assembly is that the rotary shaft is in universal connection with the rotary long shaft through the upper universal joint and the upper universal seat, the bottom of the rotary long shaft is connected with the rotary disc through the lower universal joint and the lower universal seat, the rotary shaft drives the rotary long shaft to rotate, the rotary long shaft drives the rotary disc to rotate, and the rotary disc drives the whole gripper module to rotate, so that the gripper module drives a product to rotate, and the direction of the product is adjusted. The clamping long shaft is arranged in the rotating long shaft, so that the clamping power assembly and the rotating power assembly do not interfere with each other when working.

The swing arm and the connecting rod group in the scheme are made of carbon fiber materials, and the carbon fiber materials have the characteristics of high strength and light weight, so that the strength can be improved, the overall weight can be reduced, and the flexibility and the speed of the five-axis parallel connection bag arranging module can be further improved.

Drawings

FIG. 1 is a schematic view of the overall structure of a five-axis robot structure of the present utility model;

FIG. 2 is a front view of the five-axis robotic structure of the present utility model;

FIG. 3 is a cross-sectional view of section A-A of FIG. 2;

FIG. 4 is a schematic view of a rotary power unit according to the present utility model;

Fig. 5 is a cross-sectional view of section A-A of fig. 4.

In the figure, 1, a fixing seat; 2, a motor base, 3, a servo motor, 4, a swing arm, 5, a connecting rod group, 6, a chassis, 7, a clamping power assembly, 8, a rotating power assembly, 9, a clamping servo speed reducer, 10, a clamping shaft, 11, a rotating servo speed reducer, 12, a rotating shaft, 13, a ball bearing, 14, an upper universal coupling, 15, a clamping long shaft, 16, a lower universal coupling, 17, a clamping short shaft, 18, a synchronous wheel, 19, an upper universal seat, 20, an upper universal joint, 21, a rotating long shaft, 22, a lower universal joint, 23, a lower universal seat, 24, a rotating disc, 25, a connecting rod, 26, a pin shaft, 27 and a top cover.

Detailed Description

The utility model is further described below with reference to the accompanying drawings.

As shown in fig. 1, a five-axis robot structure, including setting up fixing base 1, be provided with three motor cabinet 2 on the fixing base 1, all be provided with servo motor 3 on every motor cabinet 2, the output shaft of every servo motor 3 has swing arm 4, and the end of every swing arm 4 rotates respectively and is connected with link group 5, and the end of all link groups 5 rotates jointly and is connected to chassis 6, be provided with clamping power assembly 7 and rotatory power assembly 8 on the fixing base 1, clamping power assembly 7 includes clamping servo speed reducer 9 and sets up clamping shaft 10 in clamping servo speed reducer 9, rotatory power assembly 8 includes rotatory servo speed reducer 11 and sets up rotation axis 12 in rotatory servo speed reducer 11, clamping shaft 10 inlays through ball bearing 13 and establishes in rotation axis 12, clamping shaft 10 is connected with through last universal joint 14 and presss from both sides tight major axis 15, it is connected with the tight minor axis 17 to press from both sides tight major axis 15 to be connected with universal joint 16, the lower extreme of clamp minor axis 17 is provided with synchronizing wheel 18, rotation axis 12 is connected with last universal joint 19, the universal joint 20 is connected with universal joint 20 under the universal joint major axis 21 and the swivel joint 20, universal joint 20 is connected with universal joint 20 under the universal joint major axis 20, and the universal joint 20 is connected with the swivel joint 20, and is equipped with universal joint under the universal joint base 24, and is connected with universal joint 20 under the universal joint base 24, and is connected with universal joint base 24.

According to the five-axis robot structure, the working principle is that the five-axis parallel connection bag arranging module is based on the design of the spider manipulator, the spider manipulator drives the swing arm 4 to act through the three servo motors 3, the swing arm 4 is rotationally connected with the connecting rod group 5, and the movement of the chassis 6 in three directions of XYZ axes can be realized by controlling the rotation angles of the three servo motors 3, so that the five-axis parallel connection bag arranging structure is identical to the structure and principle of the spider manipulator in the prior art. The clamping power assembly 7 and the rotating power assembly 8 which are arranged in a superposition mode are creatively designed in the bag sorting machine, the clamping power assembly 7 drives the clamping shaft 10 to rotate through the clamping servo speed reducer 9, the rotating servo speed reducer 11 of the rotating power assembly 8 drives the rotating shaft 12 to rotate, and the clamping shaft 10 is embedded in the rotating shaft 12 through the ball bearing 13, so that the rotation of the clamping shaft 10 and the rotation of the rotating shaft 12 do not interfere with each other. The working process of the clamping power assembly 7 is that the clamping shaft 10 is connected with the clamping long shaft 15 through the upper universal coupling 14, the clamping long shaft 15 drives the clamping short shaft 17 to rotate through the lower universal coupling 16, the synchronous wheel 18 on the clamping short shaft 17 is matched with the synchronous belt of the gripper module, the clamping short shaft 17 is connected with the rotating disc 24 through the ball bearing 13, and therefore interference between the clamping short shaft 17 and the chassis 6 is avoided. The working process of the rotary power assembly 8 is that the rotary shaft 12 is in universal connection with the rotary long shaft 21 through the upper universal joint 20 and the upper universal seat 19, the bottom of the rotary long shaft 21 is connected with the rotary disc 24 through the lower universal joint 22 and the lower universal seat 23, the rotary shaft 12 drives the rotary long shaft 21 to rotate, the rotary long shaft 21 drives the rotary disc 24 to rotate, and the rotary disc 24 drives the whole gripper module to rotate, so that the gripper module drives a product to rotate, and the direction of the product is adjusted. Wherein the clamping long shaft 15 is arranged in the rotation long shaft 21, so that the clamping power assembly 7 and the rotation power assembly 8 do not interfere with each other when working.

Swing arm 4 and link group 5 in this scheme all adopt carbon fiber material to make, and carbon fiber material has high strength and light in weight's characteristic, has reduced holistic weight when can improving intensity, has further improved five parallelly connected flexibility and the speed of reason package module.

Preferably, the linkage 5 includes two links 25, and two ends of each link 25 are respectively connected with the swing arm 4 and the chassis 6 in a rotating manner through a pin 26. Each linkage 5 is designed with two links 25, which can improve the stability of the course of action.

Preferably, the top of the clamping shaft 10 is provided with a top cover 27. The cover 27 serves as a protection.

Preferably, the shape of the fixing seat 1 is Y-shaped. The design of Y shape can make fixing base 1 reduce weight guaranteed support strength and stability in the same time.

The above description is only a preferred embodiment of the present utility model, and the protection scope of the present utility model is not limited to the above examples, and all technical solutions belonging to the concept of the present utility model belong to the protection scope of the present utility model. It should be noted that modifications and adaptations to the present utility model may occur to one skilled in the art without departing from the principles of the present utility model and are intended to be within the scope of the present utility model.

Claims (4)

1. A five-axis robot structure, characterized in that: it includes a fixed seat, three motor seats are arranged on the fixed seat, each motor seat is arranged with a servo motor, the output shaft of each servo motor is connected with a swing arm, the end of each swing arm is rotatably connected with a connecting rod group, the ends of all the connecting rod groups are rotatably connected to the chassis together, a clamping power assembly and a rotating power assembly are arranged on the fixed seat, the clamping power assembly includes a clamping servo reducer and a clamping shaft arranged in the clamping servo reducer, the rotating power assembly includes a rotating servo reducer and a rotating shaft arranged in the rotating servo reducer, and the clamping shaft is embedded with a ball bearing In the rotating shaft, the clamping shaft is connected to the clamping long shaft through an upper universal coupling, the clamping long shaft is connected to the clamping short shaft through a lower universal coupling, a synchronous wheel is arranged at the lower end of the clamping short shaft, the rotating shaft is connected to an upper universal seat, the upper universal seat is connected to an upper universal joint, the upper universal joint is connected to the rotating long shaft, a lower universal joint is arranged at the bottom of the rotating long shaft, the lower universal joint is connected to a lower universal seat, the lower universal seat is arranged on a rotating disk, the rotating disk is rotatably connected to the chassis, the rotating long shaft is sleeved on the clamping long shaft, the clamping short shaft is rotatably connected to the rotating disk through a ball bearing, and the swing arm and connecting rod group are both made of carbon fiber. 2. A five-axis robot structure according to claim 1, characterized in that: the connecting rod group includes two connecting rods, and the two ends of each connecting rod are rotatably connected to the swing arm and the chassis through a pin shaft. 3. A five-axis robot structure according to claim 1, characterized in that a top cover is provided on the top of the clamping shaft. 4. A five-axis robot structure according to claim 1, characterized in that the shape of the fixing seat is Y-shaped.