WO2022247336A1

WO2022247336A1 - Material conveying mechanical arm

Info

Publication number: WO2022247336A1
Application number: PCT/CN2022/074329
Authority: WO
Inventors: 林子春; 林高宏; 张园
Original assignee: 琦星智能科技股份有限公司
Priority date: 2021-05-23
Filing date: 2022-01-27
Publication date: 2022-12-01

Abstract

A material conveying mechanical arm, comprising a rotatable base (10), a cross beam arm (20), a telescopic arm (30), a lifting arm (40) and an actuator, wherein the cross beam arm (20) is connected to the base (10); the cross beam arm (20) is provided with the telescopic arm (30) capable of sliding along the cross beam arm (20); the vertically movable lifting arm (40) is connected to the telescopic arm (30); and the actuator is arranged on the lifting arm (40).

Description

A material transport robot arm

technical field

The invention relates to the technical field of robot processing, and more specifically, it relates to a material transportation mechanical arm.

Background technique

Most of the existing trusses used for machine tool material transportation are erected above the processing equipment. The truss usually needs to be supported by columns on both sides to carry the weight of the entire truss. The beam of the truss is easy to deform or even bend after long-term use. The working space of the boom is limited by the length of the working arm of the truss, the working radius is also limited, and the large-span space operation cannot be completed. In view of this, many production companies have introduced rack-type manipulators to replace manual loading and unloading work, and these labor-intensive and high-risk transportation tasks are important components of material transportation on automatic production lines.

At present, the structure of the truss manipulator generally includes columns, beams, manipulators and end effectors. When the material needs to be transported for a relatively long distance, or when the material needs to be transported from a higher place to a lower place, the truss manipulator is difficult to realize, and cannot adapt to the transportation requirements of materials at different heights, and often requires manual handling . In addition, the existing truss mechanical arm cannot meet the needs of material delivery of multiple machine tools, resulting in low work efficiency.

Contents of the invention

The invention overcomes the deficiency that the manipulator in the prior art cannot adapt to the transport requirements of materials at different heights, and provides a material transport manipulator.

In order to solve the above technical problems, the present invention adopts the following technical solutions: a mechanical arm for material transportation, including a rotatable base, a beam arm is connected to the base, and the beam arm is provided with a A telescopic arm with a sliding arm, a vertically movable lifting arm is connected to the telescopic arm, and an actuator is arranged on the lifting arm.

Preferably, a sliding device 1 is provided between the beam arm and the telescopic arm, a nut bracket is provided between the sliding device and the telescopic arm, a power device 1 is provided on the beam arm, and the power device 1 A threaded rod is connected, and the threaded rod is arranged inside the nut bracket.

As a preference, the telescopic arm is provided with a power device 2, the power device 2 is connected with a transmission rod, the transmission rod is connected with a gear, and the lifting arm is provided with a lifting rack matched with the gear .

As a preference, the end of the telescopic arm is connected with a lifting positioning bracket, the lifting arm is installed inside the lifting positioning bracket, the lifting arm is provided with a lifting guide rail, and the lifting positioning bracket is provided with a The guide rail groove that the lifting guide rail fits into.

As a preference, a sliding device 2 is arranged inside the lift positioning bracket.

Preferably, the actuator includes an execution joint fixedly arranged on the lifting arm, the execution joint is connected with a wrist joint, the first wrist joint is connected with the second wrist joint, and the first jaw is installed on the second wrist joint. and jaw two.

Preferably, the actuator includes an upper joint and a lower joint, the upper joint is fixedly connected to the lifting arm through an L-shaped bracket one, and the lower joint is connected to the upper joint through an L-shaped bracket two, The vertical end surface of the lower joint protruding from the second L-shaped bracket is connected to the vertical end surface of the jaw installation bracket, and the other two end surfaces of the jaw installation bracket are respectively equipped with the first jaw and the second jaw.

Preferably, the beam arm is provided with a screw rod, the screw rod is provided with a nut bracket one, the nut bracket one is connected with a motor one bracket, and the motor one bracket is provided with a motor one, the A synchronous wheel is also arranged on the nut bracket one, and the synchronous wheel is connected with the output end of the motor one through a synchronous belt.

As a preference, the telescopic arm is provided with a telescopic arm fixing base, the telescopic arm fixing base is provided with a telescopic arm driving motor, the output end of the telescopic arm driving motor is connected with a cross-arm gear, and the cross-beam arm is A beam arm rack is provided, and the beam arm rack is meshed with the beam arm gear.

Preferably, the end of the telescopic arm away from the telescopic arm fixing seat is provided with a lifting arm fixing seat, the lifting arm driving motor is arranged on the lifting arm fixing seat, and the output end of the lifting arm driving motor is connected to the lifting arm A gear, the lifting arm rack is provided on the lifting arm, and the lifting arm rack is meshed with the lifting arm gear.

Preferably, a lifting arm sliding platform is installed on the opposite wall of the lifting arm fixing seat, and a lifting arm front guide rail matching the lifting arm sliding platform is installed on both sides of the lifting arm.

Preferably, an inner lifting arm is installed inside the lifting arm, and the inner lifting arm can slide along the inside of the lifting arm.

As a preference, an outer bracket is fixed on the upper part of the lifting arm, and an inner lifting arm driving motor is arranged on the outer bracket, and the inner lifting arm driving motor is connected with an inner lifting arm screw rod, and the inner lifting arm screw rod is provided with There is an inner lifting arm nut bracket, and the inner lifting arm nut bracket is connected with an inner bracket, and the inner lifting arm is connected with the inner bracket.

Preferably, an inner lifting arm guide rail is provided on the inner lifting arm, and a slide table matched with the inner lifting arm guide rail is provided on the lifting arm.

Preferably, the actuator includes an actuator joint driving motor arranged at the end of the lifting arm, and an output end of the actuator joint driving motor is connected to a working actuator joint.

Compared with the prior art, the beneficial effects of the present invention are: (1) the transportation of materials between different heights can be realized; (2) the structure is compact, the flexibility is strong, and the application scenarios are wide.

Description of drawings

Fig. 1 is a structural diagram of the present invention;

Fig. 2 is a transmission structure diagram of the beam arm and the telescopic arm of the present invention;

Fig. 3 is the cooperating diagram of the gear and the elevating rack of the present invention;

Fig. 4 is a structural diagram of another embodiment of the present invention;

Fig. 5 is a structural diagram of another embodiment of the sliding device 2 in Fig. 4 cooperating with the lifting guide rail;

Fig. 6 is the actuator structural diagram of another embodiment in Fig. 4;

Fig. 7 is the actuator structural diagram of another embodiment in Fig. 4;

Fig. 8 is a structural diagram of another embodiment of the present invention;

Fig. 9 is a structural diagram of another angle in Fig. 8;

Fig. 10 is a structural view of another embodiment of the nut bracket in Fig. 8 - cooperating with the motor bracket 232;

Fig. 11 is a transmission structure diagram of the lifting arm of another embodiment in Fig. 8;

Fig. 12 is a structural diagram of another embodiment of the present invention;

Fig. 13 is a schematic diagram of the transmission of the telescopic arm and the beam arm in another embodiment in Fig. 12;

Fig. 14 is a transmission schematic diagram of the lifting arm and the lifting arm fixing seat of another embodiment in Fig. 12;

Fig. 15 is a structural diagram of another embodiment of the lifting arm in Fig. 12;

Fig. 16 is a structural diagram of another embodiment of the inner lifting arm in Fig. 12;

Fig. 17 is a schematic diagram of transmission of the inner lifting arm in another embodiment in Fig. 12 .

In the figure: base 10, base body 11, rotary joint 12, base support frame 13, output shaft 121;

Beam arm 20, transfer upper guide rail 201, transfer side guide rail 202, beam arm rack 203, front and rear transfer guide rail 21, power unit 1 22, screw rod 23, motor 1 231, motor 1 bracket 232, nut bracket 1 233, timing belt 234, synchronous wheel 235, nut bracket 24, sliding device one 25, column 26, beam support 261, front tie rod 27, rear tie rod 28, sliding device two 29;

Telescopic arm 30, telescopic arm fixed seat 301, telescopic arm drive motor 302, beam arm gear 303, power unit 2 31, lifting positioning bracket 32, transmission rod 33, gear 34, vertical rod 35, front balance rod 36, rear balance rod 37;

Lifting arm 40, lifting arm fixing seat 401, lifting arm drive motor 402, lifting arm front guide rail 403, lifting arm rear guide rail 404, lifting arm rack 405, lifting arm gear 406, inner lifting arm 4b, inner lifting arm drive motor 4b1 , inner lifting arm screw 4b2, inner lifting arm nut bracket 4b3, outer bracket 4b4, inner bracket 4b5, inner lifting arm guide rail 4b6, lifting guide rail 41, lifting rack 42;

Executive joint 50, wrist joint 1 51, wrist joint 2 52, gripper 1 53, gripper 2 54, work execution joint 55, execution joint drive motor 56, control box 70, slide a1, lift arm slide a2;

Upper joint 61, L-shaped support one 62, lower joint 63, L-shaped support two 64, jaw mounting bracket 65, jaw one 66, jaw two 67.

Detailed ways

Below by specific embodiment, in conjunction with accompanying drawing, the technical solution of the present invention is described in further detail:

Embodiment 1: Referring to Fig. 1 to Fig. 3, a mechanical arm for material transportation includes a rotatable base 10, a crossbeam arm 20 is connected to the base 10, and the crossbeam arm 20 is provided with a movable A telescopic arm 30 sliding along the beam arm 20 is connected with a vertically movable elevating arm 40 , and an actuator is arranged on the elevating arm 40 .

The base 10 has a base body 11 and a swivel joint 12, the swivel joint 12 is mounted on the base body 11, the output shaft 121 of the swivel joint 12 fixes the beam arm 20, and the output shaft 121 is fixed at the rear end of the beam arm 20. The output shaft 121 of the rotary joint 12 drives the crossbeam arm 20 together with the telescopic arm 30 , the lifting arm 40 and the actuator joint 50 to rotate and move together to realize the operation of the mechanical arm.

A telescopic arm 30 is installed and fixed on the beam arm 20 . Specifically, a nut bracket 24 is installed on the front and rear transfer guide rails 21 that the beam arm 20 has, the telescopic arm 30 is fixed on the nut bracket 24, and a sliding device-25 is arranged between the nut bracket 24 and the beam arm 20 (the front and rear transfer guide rails 21). , the sliding device one 25 is set as a slider in this embodiment, and the power device one 22 installed on the rear end of the beam arm 20 drives the screw rod 23 to rotate and push the nut bracket 24 so as to realize the telescopic arm 30 together with the lifting arm 40 and the execution joint 50 Move horizontally back and forth. Above-mentioned screw mandrel 23 is matched in nut bracket 24 inside, and nut bracket 24 and screw mandrel 23 are positioned at the inside of telescopic arm 30, and sliding device one 25 matches with forward and backward transfer guide rail 21.

The front end of above-mentioned telescopic arm 30 is provided with lifting positioning support 32, and lifting positioning support 32 inside is provided with slide device 2 29, and sliding device 29 is a slide block, and lifting positioning support 32 inside is provided with lifting arm 40, and lifting arm 40 is provided with and slides. The chute that the block cooperates makes the lifting arm 40 more stable when sliding in the vertical direction. The lifting arm 40 has a lifting rack 42 and a lifting guide rail 41, and the lifting guide rail 41 is fixed with the lifting rack 42. Telescopic arm 30 rear end is provided with power unit two 31, power unit two 31 drives gear 34, power unit two 31 output shafts are transmission rod 33, transmission rod 33 connects gear 34. The elevating rack 42 is matched with the gear 34 and installed inside the elevating positioning bracket 32 and runs inside the elevating positioning bracket 32 . The power device 2 31 drives the elevating rack 42 to move up and down through the transmission rod 33 and the gear 34, and realizes that the power device 2 31 drives the elevating arm 40 together with the execution joint 50 installed at the lower end to make a lifting action, thereby satisfying the requirement that the transporting heights of the mechanical arms are quite different. Material requirements.

The aforementioned actuating joint 50 is installed and fixed on the lifting guide rail 41 or the lifting rack 42 of the elevating arm 40 , and the actuating joint 50 is vertically downward like the elevating arm 40 . The execution joint 50 is connected to the first wrist joint 51 , the first wrist joint 51 is connected to the second wrist joint 52 , and the second wrist joint 52 is equipped with the first jaw 53 and the second jaw 54 . The first jaw 53 is in a straight line zero position, the center line of the first jaw 53 is collinear/or parallel to the center line of the lifting arm 40, and the center line of the second jaw 54 is aligned with the center line of the first jaw 53. perpendicular to each other. In this solution, the angle between jaw one 53 and jaw two 54 is 90°. It is worth mentioning that the angle between jaw one 53 and jaw two 54 can be flexibly set as long as the jaw The central line of the first 53 is in a straight line zero position and is collinear or parallel to the central line of the lifting arm 40 . The first jaw 53 and the second jaw 54 installed on the second wrist joint 52 are the execution ends for material delivery.

The above-mentioned power device two 31 , rotary joint 12 and power device one 22 are preferably servo motors.

The beam arm 20 of mechanical arm has column 26, front tie bar 27 and back tie bar 28, and column 26 is vertically arranged on the front and back transfer guide rail 21, and front tie bar 27 one ends connect the top of column 26, and the other end is fixed on the front end of front and rear transfer guide rail 21; One end of the rear tie rod 28 is connected to the top of the column 26, and the other end is fixed on the rear end of the front and rear transfer guide rail 21. The setting of the column 26, the front tie rod 27 and the rear pull bar 28 makes the rigidity of the front and rear transfer guide rail 21 improved. The structure is more in line with the mechanical principle during operation, so that the stability of the operation of the mechanical arm is improved.

The telescopic arm 30 of the present application has a vertical rod 35, a front balance rod 36 and a rear balance rod 37. The vertical rod 35 is vertically arranged on the telescopic arm 30. One end of the front balance rod 36 is connected to the top of the vertical rod 35, and the other end is fixed on the telescopic arm. 30 front end; one end of the rear balance bar 37 is connected to the top of the vertical bar 35, and the other end is fixed on the rear end of the telescopic arm 30. The setting of the vertical bar 35, the front balance bar 36 and the rear balance bar 37 makes the rigidity of the telescopic arm 30 stronger , so that the structure of the overall mechanical arm is more in line with the mechanical principle during operation, so that the stability of the mechanical arm operation is improved.

Embodiment 2: As shown in Fig. 3 to Fig. 7, the structure of this embodiment is basically the same as that of Embodiment 1, the difference is that the output shaft 121 of the rotary joint 12 is fixed with a crossbeam support frame 261, and the crossbeam support frame 261 is fixed There is a beam arm 20 , and the beam support frame 261 is fixed on the bottom surface of the beam arm 20 . The output shaft 121 of the rotary joint 12 drives the beam support frame 261 , the beam arm 20 , the telescopic arm 30 , the lifting arm 40 and the execution joint 50 to rotate and move together to realize the overall operation of the mechanical arm.

Above-mentioned movable arm 30 stretches out in the front end of crossbeam arm 20 and works (shown in Fig. 3 Fig. 4) in the scope of nut support 24 running in screw mandrel 23. In Fig. 1 and Fig. 2, the positioning frame 32 of the movable arm 30 is located on the left side of the movable arm 30, so that the lifting arm 40 is vertically positioned on the left side of the movable arm 30 and the beam arm 20, and the lifting arm 40 is retracted by the movable arm 30. When returning to the beam arm 20, because the lifting arm 40 is located on the left side, the working range of the lifting arm 40 can be improved, which is a great improvement compared to the prior art. In this solution, the lifting arm 40 can also be arranged on the right side of the movable arm 30 and the beam arm 20, and the technical effect achieved is the same as that of the lifting arm 40 being located on the left.

The lower end of the lifting arm 40 is equipped with an actuator. The actuator includes an upper joint 61 and a lower joint 63. The upper joint 61 is installed on the L-shaped support 62, and the vertical end surface of the L-shaped support 62 is fixed on the lifting arm 40. The L-shaped The upper joint 61 is fixed on the horizontal end surface of the support one 62, and the upper joint 61 extends out of the L-shaped support one 62 to connect the horizontal end surface of the fixed L-shaped support two 64, and the lower joint 63 is installed on the L-shaped support two 64, and the L-shaped support two 64 The vertical end face of the lower joint 63 is fixed with the lower joint 63, and the vertical end face of the lower joint 63 extends out of the L-shaped support 64 to connect the vertical end face of the jaw mounting bracket 65, and the other two end faces of the jaw mounting bracket 65 are respectively equipped with jaws 1 66 and jaw two 67. The lifting and transporting action of the lifting arm 40 drives the upper joint 61 and the lower joint 63 to work together. The arrangement of the upper joint 61 and the lower joint 63 makes the material transporting mechanical arm of the present application cover a wider range of material clamping angles, and the clamping is more flexible. Adapt to material transportation under different complex conditions.

Embodiment 3: Referring to Fig. 8 to Fig. 11, the structure of this embodiment is similar to that of Embodiment 2, the difference is that the beam arm 20 has a screw 23, a motor one 231, a motor one bracket 232 and a nut bracket one 233 , wherein, both ends of the screw rod 23 are fixed on the front and rear ends of the beam arm 20 , and the nut bracket one 233 is arranged on the screw rod 23 . Above-mentioned motor one support 232 is fixedly connected motor one 231, nut support one 233 and telescopic arm 30, makes the three become a whole, and motor one 231 is fixed on the motor one support 232 and can run. Nut support one 233 is equipped with synchronous wheel 235, and synchronous wheel 235 is fixedly connected nut support one 233 and is sleeved on the screw mandrel 23, and synchronous belt 234 is set between motor one 231 and nut support one 233, and motor one 231 drives with synchronous belt 234 Synchronous wheel 235 and nut support one 233. Under the operation of motor one 231, nut support one 233 is driven on the screw mandrel 23 and moves back and forth along the screw mandrel 23, and the drive of motor one 231 realizes that the telescopic arm 30 and the lifting arm 50 execute the joint 60 on the crossbeam arm 20 to carry forward and backward. In this embodiment, the first motor 231 is preferably a servo motor.

Embodiment 4: Referring to Fig. 12 to Fig. 17, this embodiment is similar in structure to Embodiment 1, the difference is that it has a base 10, a beam arm 20, a telescopic arm 30, a lifting arm 40, an inner lifting arm 4b, Work execution joint 55 and control box 70 etc. The base 10 includes a base body 11, a swivel joint 12 and a base support frame 13, the base 10 is installed on the base body 11, the swivel joint 12 is installed on the base 10, the swivel joint 12 has a rotation function, and the swivel joint 12 is connected to The base support frame 13 is fixed, the cross beam arm 20 is fixed on the base support frame 13, the telescopic arm 30 is installed on the cross beam arm 20, the lifting arm 40 is installed on the front end of the telescopic arm 30, and the inner lifting arm 4b is installed inside the lifting arm 40. The execution end of the lift arm 4b is installed with a work execution joint 55 . The rotary joint 12 is driven by the control box 70 to realize the rotary motion of the entire mechanical arm. The control box 70 is installed and fixed on the base body 11 .

The telescopic arm 30 is mounted on the beam arm 20 . The telescopic arm 30 also has a telescopic arm drive motor 302, a beam arm gear 303, and a slide table a1. A telescopic arm fixing seat 301 is arranged between the telescopic arm 30 and the beam arm 20. The telescopic arm fixing seat 301 is in the shape of a long groove, and a slide table a1 and a beam arm gear 303 are arranged in the notch of the telescopic arm fixing seat 301. The telescopic arm fixing seat The notch direction of 301 cooperates with the telescopic arm 30, and the beam arm gear 303 and the slide table a1 respectively match the transfer upper guide rail 201, the transfer side guide rail 202 and the beam arm rack 203 that the beam arm 20 has. A telescopic arm driving motor 302 is installed on the side of the telescopic arm fixing seat 301 , and the telescopic arm driving motor 302 is connected to and drives the beam arm gear 303 . The control box 70 controls the drive of the telescopic arm drive motor 302, and the beam arm gear 303 rotates on the beam arm rack 203, thereby realizing the transfer of the telescopic arm fixing seat 301 installed with the slide table a1 on the beam arm 20 to the upper guide rail 201 and the transfer side guide rail 202 Moving forward and backward, thereby driving the telescopic arm 30 , the lifting arm 40 , the inner lifting arm 4 b and the work performing joint 55 to move forward and backward.

The lifting arm 40 is installed on the front end of the telescopic arm 30 . The lifting arm 40 has a lifting arm fixing seat 401, a lifting arm driving motor 402, a lifting arm front guide rail 403, a lifting arm rear guide rail 404, a lifting arm rack 405, a lifting arm gear 406 and a slide table a1. The lifting arm fixing base 401 is in the shape of a long strip, and one side of the lifting arm fixing base 401 is fixed on the front end of the telescopic arm 30 . On the opposite inner wall of the lifting arm holder 401, a slide table a1 is respectively installed, and the lifting arm front guide rail 403 and the lifting arm rear guide rail 404 installed on the lifting arm 40 are matched with the lifting arm slide table (a2) on both sides. A lifting arm driving motor 402 is installed on the side of the lifting arm fixing seat 401. The lifting arm driving motor 402 is connected to the lifting arm gear 406 and stretches through the inner wall of the lifting arm fixing seat 401. The lifting arm gear 406 and the lifting arm installed on the lifting arm 40 Rack 405 matches. The control box 70 controls the lifting arm drive motor 402 to drive, and the lifting arm gear 406 rotates on the lifting arm rack 405, so that the lifting arm 40 moves up and down inside the lifting arm fixing seat 401, thereby realizing that the lifting arm 40 includes the inner lifting arm 4b and Work execution joint 55 realizes moving up and down inside.

The inner lifting arm 40 is equipped with an inner lifting arm 4b, and the inner lifting arm 4b has an inner lifting arm drive motor 4b1, an inner lifting arm screw rod 4b2, an inner lifting arm nut bracket 4b3, an outer bracket 4b4, an inner bracket 4b5, and a slide table a1 And inner lifting arm guide rail 4b6 etc. The lower part of the lift arm 40 cavity is provided with a slide table a1, and the inner lift arm 4b is provided with an inner lift arm guide rail 4b6 with the slide table a1; The inner lifting arm screw rod 4b2 connected to the lifting arm drive motor 4b1 passes through the outer bracket 4b4, and the above two points are used to position the inner lifting arm 4b inside the lifting arm 40. The inner bracket 4b5 connects and fixes the inner lifting arm nut bracket 4b3. The inner bracket 4b5 is located on the upper part of the inner lifting arm 4b and is fixed on the upper part of the inner lifting arm 4b. The inner lifting arm screw 4b2 passes through the inner lifting arm nut bracket 4b3 and extends to the inner lifting arm. Lower part of 4b. Under the control of the control box 70, the inner lifting arm drive motor 4b1 drives the inner lifting arm screw 4b2, and the moving inner lifting arm screw 4b2 pushes the inner lifting arm nut bracket 4b3 to move, so that the inner lifting arm 4b protrudes from the lower part of the lifting arm 40, Realize that the work execution joint 55 works in a larger range. In this application, the inner lifting arm 4b is installed inside the lifting arm 40. On the one hand, the height of the mechanical arm body is effectively reduced, and on the other hand, the working range of the mechanical arm is effectively improved, especially to overcome the limitation of the mechanical arm by the height of the factory building. , improves the flexibility of the mechanical arm, and has a high promotion and use value.

A work performing joint 55 is installed on the lower part of the inner lifting arm 4b, and the work performing joint 55 is driven by a driving motor 56 of the performing joint.

The embodiments described above are only preferred solutions of the present invention, and do not limit the present invention in any form. There are other variations and modifications on the premise of not exceeding the technical solutions described in the claims.

Claims

A mechanical arm for material transportation, characterized in that it includes a rotatable base (10), a beam arm (20) is connected to the base (10), the beam arm (20) is provided with a The beam arm (20) is a sliding telescopic arm (30), the telescopic arm (30) is connected with a vertically movable lifting arm (40), and the lifting arm (40) is provided with an actuator.
The material transportation mechanical arm according to claim 1, characterized in that, a sliding device one (25) is arranged between the beam arm (20) and the telescopic arm (30), and the sliding device (25) and A nut bracket (24) is arranged between the telescopic arms (30), a power device one (22) is arranged on the beam arm (20), and a threaded rod (23) is connected to the power device one (22). The screw rod (23) is arranged inside the nut bracket (24).
The material transportation mechanical arm according to claim 1, characterized in that, the telescopic arm (30) is provided with a power device two (31), and the power device two (31) is connected to a transmission rod (33), so that A gear (34) is connected to the transmission rod (33), and a lifting rack (42) matched with the gear (34) is arranged on the lifting arm (40).
The material transportation mechanical arm according to claim 3, characterized in that, the end of the telescopic arm (30) is connected with a lifting positioning bracket (32), and the lifting arm (40) is installed on the lifting positioning bracket Inside of (32), the lifting arm (40) is provided with a lifting guide rail (41), and the lifting positioning bracket (32) is provided with a guide rail groove cooperating with the lifting guide rail (41).
The mechanical arm for material transportation according to claim 1, characterized in that, a sliding device two (29) is arranged inside the lift positioning bracket (32).
The material transportation mechanical arm according to claim 1, characterized in that, the actuator includes an execution joint (50) fixedly arranged on the lifting arm (40), and the execution joint (50) is connected with a wrist joint (51), the first wrist joint (51) is connected to the second wrist joint (52), and the first jaw (53) and the second jaw (54) are installed on the second wrist joint (52).
The material transportation mechanical arm according to claim 1, characterized in that, the actuator comprises an upper joint (61) and a lower joint (63), and the upper joint (61) connects with an L-shaped bracket (62) The lifting arm (40) is fixedly connected, the lower joint (63) is connected with the upper joint (61) through an L-shaped bracket two (64), and the lower joint (63) extends out of the L-shaped The vertical end face of bracket two (64) is connected with the vertical end face of jaw mounting bracket (65), and the other two end faces of described jaw mounting bracket (65) are respectively equipped with jaw one (66) and jaw Two (67).
The material transportation mechanical arm according to claim 1, characterized in that, the beam arm (20) is provided with a screw (23), and the screw (23) is provided with a nut bracket one (233), so Described nut support one (233) is connected with motor one support (232), and described motor one support (232) is provided with a motor one (231), is also provided with a synchronous wheel (235) on described nut support one (233). ), the synchronous wheel (235) is connected with the output end of the motor one (231) through a synchronous belt (234).
The material transportation mechanical arm according to claim 1, characterized in that, the telescopic arm (30) is provided with a telescopic arm fixing seat (301), and the telescopic arm fixing seat (301) is provided with a telescopic arm driving motor (302), the output end of the telescopic arm drive motor (302) is connected with a beam gear (303), the beam arm (20) is provided with a beam arm rack (203), and the beam arm rack (203) is (203) meshes with said beam arm gear (303).
The material transportation mechanical arm according to claim 1, characterized in that, the end of the telescopic arm (30) away from the telescopic arm fixing seat (301) is provided with a lifting arm fixing seat (401), and the lifting arm is fixed The seat (401) is provided with a lifting arm driving motor (402), the output end of the lifting arm driving motor (402) is connected with a lifting arm gear (406), and the lifting arm (40) is provided with a lifting arm rack (405), the lifting arm rack (405) meshes with the lifting arm gear (406).
The material transportation mechanical arm according to claim 9 or 10, characterized in that, the lifting arm slide table (a2) is installed on the opposite wall of the lifting arm fixing seat (401), and the lifting arm (40) has two A front guide rail (403) of the lifting arm matching with the lifting arm slide table (a2) is installed on the side.
The material transportation mechanical arm according to claim 9 or 10, characterized in that, an inner lifting arm (4b) is installed inside the lifting arm (40), and the inner lifting arm (4b) can move along the lifting arm ( 40) Slide inside.
The material transportation mechanical arm according to claim 12, characterized in that, an outer bracket (4b4) is fixed on the upper part of the lifting arm, and an inner lifting arm drive motor (4b1) is arranged on the outer bracket (4b4). The inner lifting arm drive motor (4b1) is connected with the inner lifting arm screw rod (4b2), and the inner lifting arm screw rod (4b2) is provided with an inner lifting arm nut bracket (4b3), and the inner lifting arm nut bracket (4b3 ) is connected with an inner bracket (4b5), and the inner lifting arm (4b) is connected with the inner bracket (4b5).
The material transportation mechanical arm according to claim 12, characterized in that, the inner lifting arm (4b) is provided with an inner lifting arm guide rail (4b6), and the inner lifting arm guide rail (4b6) is provided with the inner lifting arm guide rail (4b6) Matching slide (a1).
The mechanical arm for material transportation according to claim 12, characterized in that, the actuator includes an actuator joint driving motor (56) arranged at the end of the lifting arm (40), and the actuator joint driving motor (56) The output end of the joint is connected with a work execution joint (55).