Five-axis manipulation mechanism

Abstract

The present invention discloses a five-axis manipulation mechanism, including a base plate, an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism, a fourth-axis mechanism and a fifth-axis mechanism, wherein the X-axis mechanism is mounted on the Y-axis mechanism, the Y-axis mechanism is mounted on the Z-axis mechanism, the fourth-axis mechanism includes two side plates arranged opposite to each other, a rotating assembly mounted on one of the side plates, a first connecting plate connected to the rotating assembly and a second connecting plate rotatably connected to the other side plate, the Z-axis mechanism and the two side plates are mounted on the base plate, the fifth-axis mechanism includes an arc frame and a sliding mechanism moving along the arc frame, and the two ends of the arc frame are respectively connected to the first connecting plate and the second connecting plate. The present invention adopts a large number of sheet metal parts made of galvanized sheet metal or stainless steel sheet metal, which greatly reduces the weight of the manipulation mechanism, improves the operational flexibility and acceleration, and is environmentally friendly; reduces the cost; the fourth-axis mechanism rotates to drive the fifth-axis mechanism to swing, and combined with the large arc sliding mechanism, the rotation angle is large.

Description

Technical Field

[0001] The invention relates to a manipulation mechanism, in particular to a five-axis manipulation mechanism. Background Art

[0002] Currently, cast iron, cast aluminum parts, and machined parts made of aluminum alloy or carbon steel are generally used to construct the operating mechanism. Cast iron parts require black surface treatment, and aluminum alloy and carbon steel parts require galvanized surface treatment. Compared with the deadweight of cast iron parts and carbon steel, the heavy deadweight needs to be overcome during operation, the entire mechanism is bloated, the acceleration during operation is slow, and the mechanism has large inertia; in addition, cast iron, cast aluminum, carbon steel and aluminum alloy parts all need to be surface treated, which is complex and costly, and the surface treatment process seriously pollutes the human environment and cannot meet the requirements for environmental and worker protection. Summary of the invention

[0003] In view of the shortcomings of the prior art, an object of the present invention is to provide a five-axis manipulation mechanism.

[0004] In order to achieve the above purpose, the technical solution provided by an embodiment of the present invention is as follows:

[0005] A five-axis manipulation mechanism comprises a base plate, an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism, a fourth-axis mechanism and a fifth-axis mechanism, wherein the X-axis mechanism is mounted on the Y-axis mechanism, the Y-axis mechanism is mounted on the Z-axis mechanism, the fourth-axis mechanism comprises two side plates arranged opposite to each other, a rotating assembly mounted on one of the side plates, a first connecting plate connected to the rotating assembly and a second connecting plate rotatably connected to the other side plate, the Z-axis mechanism and the two side plates are mounted on the base plate, the fifth-axis mechanism comprises an arc frame and a sliding mechanism moving along the arc frame, and the two ends of the arc frame are respectively connected to the first connecting plate and the second connecting plate.

[0006] As a further improvement of the present invention, the X-axis mechanism includes an X-axis frame, a first belt bracket installed on the X-axis frame, and a first belt mechanism connected to the first belt bracket. The first belt mechanism includes an X-axis drive motor and a first belt assembly driven by the X-axis drive motor.

[0007] As a further improvement of the present invention, the Y-axis mechanism includes a Y-axis frame, a second belt bracket installed on the Y-axis frame, and a second belt mechanism connected to the second belt bracket. The second belt mechanism includes a Y-axis drive motor and a second belt assembly driven by the Y-axis drive motor.

[0008] As a further improvement of the present invention, an X-axis guide rail is installed on the Y-axis frame, and at least one X-axis slider is installed at the bottom of the X-axis frame, and the X-axis slider slides along the X-axis guide rail.

[0009] As a further improvement of the present invention, the Z-axis mechanism includes a Z-axis frame, a Z-axis screw assembly connected to the Z-axis frame, and a Z-axis drive motor connected to the Z-axis screw assembly, and the Z-axis drive motor is mounted on the substrate.

[0010] As a further improvement of the present invention, a Y-axis guide rail is installed on the Z-axis frame, and at least one Y-axis slider is installed at the bottom of the Y-axis frame, and the Y-axis slider slides along the Y-axis guide rail.

[0011] As a further improvement of the present invention, two support frames are installed at the bottom of the Z-axis frame, a sliding connecting plate is connected between the two support frames, two Z-axis guide rails are installed on the base plate, each sliding connecting plate is installed with at least one Z-axis slider, and the Z-axis slider slides along the Z-axis guide rail.

[0012] As a further improvement of the present invention, the sliding mechanism includes a fifth-axis belt and a sliding assembly, the fifth-axis belt is installed on the arc frame, the sliding assembly includes a carrier frame, a fifth-axis drive motor installed on the carrier frame, and a roller assembly driven by the fifth-axis drive motor, and the roller assembly cooperates with the fifth-axis belt.

[0013] As a further improvement of the present invention, a guide assembly is installed on the arc frame, and the guide assembly includes two guide plates arranged opposite to each other.

[0014] As a further improvement of the present invention, a first counterweight assembly is installed on the first connecting plate, and the first counterweight assembly is connected to the rotating assembly. A second counterweight assembly is rotatably connected to the other side plate, and the second counterweight assembly is connected to the second connecting plate.

[0015] The beneficial effects of the present invention are:

[0016] (1) A large number of sheet metal parts made of galvanized sheets or stainless steel sheets are used to replace traditional cast iron, cast aluminum and galvanized parts, which greatly reduces the weight of the operating mechanism and improves the flexibility and acceleration of operation. In addition, sheet metal parts made of galvanized sheets or stainless steel sheets do not require surface treatment, eliminating environmental pollution during surface treatment and casting, which is green and environmentally friendly.

[0017] (2) The transmission combination of synchronous belt and linear guide replaces the traditional transmission combination of ball screw and linear guide, which reduces the cost of parts and saves production costs, while enhancing the flexibility and acceleration of the transmission.

[0018] (3) The fifth axis mechanism is driven to swing by the rotation of the fourth axis mechanism. At the same time, combined with a large arc sliding mechanism, the mechanism can be operated flexibly and with a large rotation angle, thereby increasing the detection range, avoiding detection blind spots, and achieving high detection accuracy, thereby improving the overall performance of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of a preferred embodiment of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the X-axis mechanism of a preferred embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the Y-axis mechanism of a preferred embodiment of the present invention;

[0023] Figure 4 This is a schematic structural diagram of a preferred embodiment of the present invention in which a Z-axis mechanism is installed on a substrate;

[0024] Figure 5 A schematic structural diagram of the connection between the fourth axis mechanism and the fifth axis mechanism of a preferred embodiment of the present invention;

[0025] Figure 6 It is a rear view structural schematic diagram of the connection between the fourth axis mechanism and the fifth axis mechanism of the preferred embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0027] like Figure 1As shown, a five-axis manipulation mechanism includes a base plate 10, an X-axis mechanism 12, a Y-axis mechanism 14, a Z-axis mechanism 16, a fourth-axis mechanism 18 and a fifth-axis mechanism 20, wherein the X-axis mechanism 12 is mounted on the Y-axis mechanism 14, the Y-axis mechanism 14 is mounted on the Z-axis mechanism 16, the fourth-axis mechanism 18 includes two side plates arranged opposite to each other, a rotating assembly 21 mounted on one of the side plates, a first connecting plate 22 connected to the rotating assembly 21, and a second connecting plate 24 rotatably connected to the other side plate, the Z-axis mechanism 16, the two side plates are mounted on On the base plate 10, the fifth axis mechanism 20 includes an arc frame 26 and a sliding mechanism 28 moving along the arc frame 26. The two ends of the arc frame 26 are respectively connected to the first connecting plate 22 and the second connecting plate 24. In this embodiment, the two side plates are respectively the first side plate 30 and the second side plate 32. The rotating component 21 is installed on the first side plate 30, and the second connecting plate 24 is rotatably connected to the second side plate 32, but it is not limited to this method. The rotating component 21 can also be installed on the second side plate 32, and the second connecting plate 24 is rotatably connected to the first side plate 30.

[0028] like Figure 2 As shown, the preferred X-axis mechanism 12 of the present invention includes an X-axis frame 34, a first belt bracket 36 mounted on the X-axis frame 34, and a first belt mechanism connected to the first belt bracket 36. The first belt mechanism includes an X-axis drive motor 38 and a first belt assembly driven by the X-axis drive motor 38. Specifically, the first belt assembly includes a first main pulley 40, a first slave pulley 42, and a first belt 44 connecting the first main pulley 40 and the first slave pulley 42. The first belt bracket 36 is connected to the first belt 44. The movement of the first belt 44 along the X-axis direction drives the X-axis frame 34 to move along the X-axis direction. In order to improve the smoothness of the movement of the X-axis frame 34 along the X-axis direction, the preferred X-axis frame 34 of the present invention is installed with a first roller mechanism. The first roller mechanism includes two first rollers 46, and the two first rollers 46 roll along the X-axis direction.

[0029] like Figure 3As shown, the preferred Y-axis mechanism 14 of the present invention includes a Y-axis frame 48, a second belt bracket 50 mounted on the Y-axis frame 48, and a second belt mechanism connected to the second belt bracket 50. The second belt mechanism includes a Y-axis drive motor 52 and a second belt assembly driven by the Y-axis drive motor 52. Specifically, the second belt assembly includes a second main pulley 54, a second slave pulley 56, and a second belt 58 connecting the second main pulley 54 and the second slave pulley 56. The second belt bracket 50 is connected to the second belt 58. The second belt 58 moves along the Y-axis direction to drive the Y-axis frame 48 to move along the Y-axis direction. In order to improve the smoothness of the movement of the Y-axis frame 48 along the Y-axis direction, the preferred second roller mechanism of the present invention is installed on the Y-axis frame 48. The second roller mechanism includes two second rollers 60, which roll along the Y-axis direction through the two second rollers 60.

[0030] In order to further improve the rapid movement of the X-axis frame 34 along the X-axis direction, the present invention preferably installs an X-axis guide rail 62 on the Y-axis frame 48, and at least one X-axis slider 64 is installed at the bottom of the X-axis frame 34, and the X-axis slider 64 slides along the X-axis guide rail 62.

[0031] like Figure 4 As shown, the preferred Z-axis mechanism 16 of the present invention includes a Z-axis frame 66, a Z-axis screw assembly 68 connected to the Z-axis frame 66, and a Z-axis drive motor 70 connected to the Z-axis screw assembly 68. The Z-axis drive motor 70 is installed on the substrate 10, and the Z-axis drive motor 70 drives the Z-axis frame 66 to move along the Z-axis direction through the Z-axis screw assembly 68.

[0032] In order to further improve the rapid movement of the Y-axis frame 48 along the Y-axis direction, the present invention preferably installs a Y-axis guide rail 72 on the Z-axis frame 66, and at least one Y-axis slider 74 is installed at the bottom of the Y-axis frame 48, and the Y-axis slider 74 slides along the Y-axis guide rail 72.

[0033] In order to improve the rapid movement of the Z-axis frame 66 along the Z-axis direction, the present invention preferably has two support frames 76 installed at the bottom of the Z-axis frame 66, a sliding connection plate 78 is connected between the two support frames 76, two Z-axis guide rails 80 are installed on the base plate 10, and at least one Z-axis slider 82 is installed on each sliding connection plate 78, and the Z-axis slider 82 slides along the Z-axis guide rail 80. Specifically, each support frame 76 includes two support frame bodies 84 connected together, and the two support frame bodies 84 are riveted to the Z-axis frame 66, but are not limited to riveting, and can also be connected together by screws.

[0034] like Figure 1 , Figure 5As shown, the present invention preferably has a first counterweight assembly installed on the first connecting plate 22, the first counterweight assembly is connected to the rotating assembly 21, and a second counterweight assembly is rotatably connected to the other side plate, the second counterweight assembly is connected to the second connecting plate 24, so as to improve the rotation stability of the first connecting plate 22 and the second connecting plate 24. Specifically, the first counterweight assembly includes a third connecting plate 86, two first counterweight plates (not shown in the figure) installed on the third connecting plate 86, the lower part of the third connecting plate 86 is inserted between the two first counterweight plates and connected together, the rotating assembly 21 includes a fourth shaft driving motor 90, a fourth shaft belt 92 and a fourth shaft pulley 94, the fourth shaft driving motor 90 drives the fourth shaft belt 92 and thereby drives the fourth shaft pulley 94 to rotate, the fourth shaft pulley 94 is connected to a first rotating shaft (not shown in the figure), the first rotating shaft passes through the first connecting plate 22, the first side plate 30 and is fixed to the third connecting plate 86, the second side plate 32 is rotatably connected to the second counterweight assembly, the second counterweight assembly includes a fourth connecting plate 98, two second counterweight plates 100 installed on the fourth connecting plate 98, the lower part of the fourth connecting plate 98 is inserted between the two second counterweight plates 100 and connected together, the second side plate 32 is penetrated with a second rotating shaft (not shown in the figure), the second connecting plate 24 and the fourth connecting plate 98 are both fixed to the second rotating shaft.

[0035] like Figure 5 , Figure 6 As shown, the preferred sliding mechanism 28 of the present invention includes a fifth axis belt 104 and a sliding assembly, the fifth axis belt 104 is mounted on the arc frame 26, the sliding assembly includes a carrier 106, a fifth axis drive motor 108 mounted on the carrier 106, and a roller assembly driven by the fifth axis drive motor 108, and the roller assembly cooperates with the fifth axis belt 104. Specifically, the roller assembly includes a fifth axis pulley 109, an upper roller 110 and two lower rollers 111, the fifth axis pulley 119 is driven by the fifth axis drive motor 108, the upper roller 110 and the two lower rollers 111 are all mounted on the carrier 106, the upper roller 110 rolls on the arc frame 26, and the two lower rollers 111 roll on the fifth axis belt 104. Two guide wheels 112 are also installed on the carrier 106 to facilitate the fifth axis belt 104 to be wound around the fifth axis pulley 109. In order to facilitate the installation of the detection equipment, the present invention preferably installs a support frame on the carrier 106. It is further preferred that the support frame includes two support frame bodies 113 that are arranged opposite to each other.

[0036] The present invention preferably has a guide assembly installed on the arc frame 26, and the guide assembly includes two guide plates arranged opposite to each other, the upper ends of the guide plates protrude from the arc frame 26, and the upper ends of the two guide plates form a limiting space to facilitate the movement of the upper roller 110, the two lower rollers 111 and the two guide wheels 112 to prevent slipping out. It is further preferred that the guide plate includes a plurality of spliced ​​guide plate bodies 114, which are convenient and quick to process and install.

[0037] In the present invention, the two ends of the arc frame 26 are preferably connected to the first transition frame 115 and the second transition frame 116 respectively, the first connecting plate 22 and the third connecting plate 86 are both fixed to the first transition frame 115, and the second connecting plate 24 and the fourth connecting plate 98 are both fixed to the second transition frame 116.

[0038] In order to facilitate the passage of the detection light source, the present invention preferably provides a first through hole 117 on the X-axis frame 34, a second through hole 118 on the Y-axis frame 48, and a third through hole 120 and two fourth through holes 122 respectively located on both sides of the third through hole 120 on the Z-axis frame 66. In order to facilitate the placement of the part to be detected, the present invention preferably provides a tray 124 at the first through hole 116, and the tray 124 is placed on the X-axis frame 34, and the detection light source can penetrate the tray 124.

[0039] When the present invention is used, the part to be detected is placed on the tray, the detection light source passes through the third through hole 120, the second through hole 118, and the first through hole 117 to illuminate the part to be detected, and the detection equipment is installed on the two support frame bodies 113, the Z-axis mechanism 16 can drive the Y-axis mechanism 14 and the X-axis mechanism 12 to move along the Z-axis direction as a whole, the Y-axis mechanism 14 can drive the X-axis mechanism 12 to move along the Y-axis direction, and the X-axis mechanism 12 can move along the X-axis direction. 6, to determine the position of the part to be detected, at the same time, the fourth axis driving motor 90 of the fourth axis mechanism 18 drives the fourth axis pulley 94 to rotate through the fourth axis belt 92, thereby driving the first connecting plate 22 to rotate, thereby driving the arc frame 26 and the second connecting plate 24 to rotate, and the fifth axis driving motor 108 drives the fifth axis pulley 109 to move along the fifth axis belt 104, thereby driving the upper roller 110 and the two lower rollers 111 to move, thereby driving the detection equipment to move along the arc frame 26 to achieve large-angle detection.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0041] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A five-axis manipulation mechanism, characterized in that: The invention comprises a base plate, an X-axis mechanism, a Y-axis mechanism, a Z-axis mechanism, a fourth-axis mechanism and a fifth-axis mechanism, wherein the X-axis mechanism is mounted on the Y-axis mechanism, the Y-axis mechanism is mounted on the Z-axis mechanism, the X-axis mechanism comprises an X-axis frame, a first belt bracket mounted on the X-axis frame, a first belt mechanism connected to the first belt bracket, the first belt mechanism comprises an X-axis drive motor, and a first belt assembly driven by the X-axis drive motor, the Y-axis mechanism comprises a Y-axis frame, a second belt bracket mounted on the Y-axis frame, and a second belt mechanism connected to the second belt bracket, the second belt mechanism comprises a Y-axis drive motor, and a second belt assembly driven by the Y-axis drive motor, the fourth-axis mechanism comprises It includes two side plates arranged opposite to each other, a rotating component installed on one of the side plates, a first connecting plate connected to the rotating component, and a second connecting plate rotatably connected to the other side plate, the Z-axis mechanism and the two side plates are installed on the base plate, the fifth axis mechanism includes an arc frame, a sliding mechanism moving along the arc frame, the two ends of the arc frame are respectively connected to the first connecting plate and the second connecting plate, the sliding mechanism includes a fifth axis belt and a sliding component, the fifth axis belt is installed on the arc frame, the sliding component includes a bearing frame, a fifth axis drive motor installed on the bearing frame, and a roller assembly driven by the fifth axis drive motor, and the roller assembly cooperates with the fifth axis belt.

2. The five-axis manipulation mechanism according to claim 1, characterized in that: An X-axis guide rail is installed on the Y-axis frame, and at least one X-axis slider is installed at the bottom of the X-axis frame. The X-axis slider slides along the X-axis guide rail.

3. The five-axis manipulation mechanism according to claim 1, characterized in that: The Z-axis mechanism includes a Z-axis frame, a Z-axis screw assembly connected to the Z-axis frame, and a Z-axis drive motor connected to the Z-axis screw assembly, and the Z-axis drive motor is mounted on the base plate.

4. The five-axis manipulation mechanism according to claim 3, characterized in that: A Y-axis guide rail is installed on the Z-axis frame, and at least one Y-axis slider is installed at the bottom of the Y-axis frame. The Y-axis slider slides along the Y-axis guide rail.

5. The five-axis manipulation mechanism according to claim 3, characterized in that: Two support frames are installed at the bottom of the Z-axis frame, a sliding connecting plate is connected between the two support frames, two Z-axis guide rails are installed on the base plate, each of the sliding connecting plates is installed with at least one Z-axis slider, and the Z-axis slider slides along the Z-axis guide rail.

6. The five-axis manipulation mechanism according to claim 1, characterized in that: A guide assembly is installed on the arc frame, and the guide assembly includes two guide plates arranged opposite to each other.

7. The five-axis manipulation mechanism according to claim 1, characterized in that: A first counterweight assembly is mounted on the first connecting plate, and the first counterweight assembly is connected to the rotating assembly. A second counterweight assembly is rotatably connected to the other side plate, and the second counterweight assembly is connected to the second connecting plate.

Images