A multi-axis robot arm and processing technology thereof

Abstract

The invention discloses a multi-axis robot arm and a processing technology thereof. The multi-axis robot arm mainly comprises a base, wherein a seat plate is symmetrically installed at the four corners of the lower end of the base, at least three claw arms are welded at equal intervals at the lower end of the seat plate, the lower part of the claw arm is threadedly connected to a guide component, the claw arm is connected to a ball head through the guide component, the lower end of the ball head is threadedly connected to the upper end of an electric cylinder, the lower end of the electric cylinder is fixedly connected to a pad, and two groups of protection components are symmetrically installed at the upper end of the base, and the square protection component is spliced ​​by pieces of protection plates; the invention is reasonably designed in structure, and the structure composed of the seat plate, the claw arm, the guide component and the ball head installed at the lower end of the base can ensure that the force of the base is more balanced, and the execution accuracy of the robot arm when working is higher, and at the same time, the leveling operation of the base is more convenient, and the robot arm adopts an independent double working unit to make the work efficiency higher.

Description

Technical Field

[0001] The invention relates to the field of robot manufacturing, and in particular to a multi-axis robot arm and a processing technology thereof. Background Art

[0002] A robotic arm is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both humans and robotic arms.

[0003] The robotic arm is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other sectors.

[0004] During the existing installation and use, the leveling work is inconvenient and time-consuming. When the ground is not flat enough, the force on the base is uneven, resulting in poor working effect of the robot arm. Summary of the invention

[0005] The object of the present invention is to provide a multi-axis robot arm and a processing technology thereof to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A multi-axis robot arm mainly comprises a base, a base plate is symmetrically installed at the four corners of the lower end of the base, at least three claw arms are welded at equal intervals at the lower end of the base plate, the lower part of the claw arm is threadedly connected to a guide assembly, the claw arm is connected to a ball head through the guide assembly, the lower end of the ball head is threadedly connected to the upper end of an electric cylinder, the lower end of the electric cylinder is fixedly connected to a pad, two groups of protection assemblies are symmetrically installed on the upper end of the base, the square protection assembly is spliced ​​by pieces of protection plates, the upper end of the base is connected to a lead screw through a bearing on the inner side of the protection assembly, a driven gear is installed at the lower part of the lead screw, a thread sleeve is sleeved on the lead screw, a lifting arm is sleeved on the step on the thread sleeve, a positioning plate is arranged on the upper end of the lifting arm, the lifting arm is a cylindrical structure with an open lower end, a second motor is fixedly installed on the inner upper end of the lifting arm by screws, and the motor shaft of the second motor is fixedly connected by bolts A swivel seat, a swivel plate is fixedly installed at the lower end of the swivel seat, a first annular ball groove is opened at the corresponding positions of the swivel plate and the positioning plate, and a first ball is installed in the first ball groove, a working arm is fixedly installed at the upper end of the swivel seat, a first motor is installed at the upper end of the base corresponding to the protective assembly, the motor shaft of the first motor is connected to the rotating shaft through a coupling, the rotating shaft is connected to the protective plate near the first motor through a bearing, a driving gear is fixedly installed at the other end of the rotating shaft, the driving gear is meshed with the driven gear, avoidance grooves are opened on the left and right sides of the lifting arm, a bearing seat is installed at the upper end of the lead screw, and fixed rods are welded at the corresponding avoidance grooves on both sides of the bearing seat, the other end of the fixed rod is fixedly connected to the top of the corresponding protective plate, fixed arms are welded at the front and rear sides of the upper part of the lifting arm, the lower side of the other end of the fixed arm is fixedly connected to the telescopic rod, and the lower end of the telescopic rod is fixedly installed on the upper end of the base by screws.

[0008] As a further solution of the present invention: the guide assembly includes a sleeve, a second ball and a positioning plug, the sleeve is threadedly connected to the lower part of the claw arm, the second ball is installed inside the sleeve, and the positioning plug that cooperates with the second ball is installed at the mouth of the sleeve.

[0009] As a further solution of the present invention: a shock-absorbing and anti-skid pad is arranged at the lower end of the pad, and the shock-absorbing and anti-skid pad is a rubber pad.

[0010] As a further solution of the present invention: the rotating plate is an annular plate composed of two fan ring plates.

[0011] As a further solution of the present invention: a first travel switch is installed at the upper end of the avoidance groove, and a second travel switch is installed at the lower end of the bearing seat corresponding to the thread sleeve.

[0012] As a further solution of the present invention: a reinforcement base is fixedly installed on the upper part of the outer sleeve rod of the telescopic rod, and the reinforcement base is connected to the corresponding protective plate by screws.

[0013] As a further solution of the present invention: two mutually perpendicular side surfaces of the base are both installed with a level ruler.

[0014] As a further solution of the present invention: a controller is installed in the middle of the upper end of the base, and the controller is installed with a display screen, function keys and a driving handle.

[0015] A processing technology for a multi-axis robot arm, the process comprising the following steps:

[0016] 1. Test the relevant parts of the multi-axis robot arm and use relevant testing instruments and methods to perform quality inspection on the relevant parts;

[0017] 2. Assemble the relevant parts of the multi-axis robot arm on the assembly line;

[0018] 3. Perform performance test on the assembled multi-axis robot arm, mainly including the following test steps:

[0019] (I) Preparation before the test: Connect the multi-axis robot arm to be tested to the power supply, and check whether the parameters of the multi-axis robot arm are correct through the display screen on the controller. If the parameters are normal, proceed to the next step. If the parameters are abnormal, mark them and then perform unified detection and troubleshooting;

[0020] (ii) Manual test: manually control the multi-axis robot arm through the function buttons or driving handles on the controller to complete the corresponding command work. If the manual test is normal, proceed to the next step. If the manual test is abnormal, mark it and then conduct unified detection and troubleshooting;

[0021] (III) Automatic testing: input corresponding working program instructions to the controller of the multi-axis robot arm that has been tested normally manually to conduct automatic testing. If the automatic test is normal, proceed to the next step. If the automatic test is abnormal, mark the explanation and then conduct unified detection and troubleshooting;

[0022] 4. The multi-axis robot arms that have passed normal performance tests will be packaged and shipped out of the factory.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention has a reasonable structural design. The structure composed of a base plate, a claw arm, a guide assembly and a ball head installed at the lower end of the base can ensure that the force on the base is more balanced, ensure that the execution accuracy of the robot arm is higher when working, and make the leveling operation of the base more convenient. In addition, the robot arm adopts an independent dual working unit to improve the working efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of a multi-axis robotic arm.

[0026] Figure 2 for Figure 1The lifting arm in the structural diagram at A.

[0027] Figure 3 This is a connection structure diagram of the lifting arm in a multi-axis robot arm.

[0028] Figure 4 This is a connection structure diagram of the guide components in a multi-axis robot arm.

[0029] In the figure: base 1, first motor 2, rotating shaft 3, thread sleeve 4, avoidance groove 5, fixed rod 6, rotating seat 7, working arm 8, screw 9, controller 10, rotating plate 11, lifting arm 12, protective plate 13, seat plate 14, claw arm 15, guide assembly 16, sleeve 161, second ball 162, positioning plug 163, electric cylinder 17, pad 18, ball head 19, positioning plate 20, first stroke switch 21, second motor 22, first ball 23, fixed arm 24, reinforcement seat 25, telescopic rod 26, level 27, driven gear 28, driving gear 29, bearing seat 30. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] See also Figures 1 to 4In an embodiment of the present invention, a multi-axis robot arm mainly includes a base 1, a base plate 14 is symmetrically installed at the four corners of the lower end of the base 1, at least three claw arms 15 are welded at equal intervals at the lower end of the base plate 14, the lower part of the claw arm 15 is threadedly connected to the guide component 16, the claw arm 15 is connected to the ball head 19 through the guide component 16, the lower end of the ball head 19 is threadedly connected to the upper end of the electric cylinder 17, the lower end of the electric cylinder 17 is fixedly connected to the pad 18, and two sets of protective components are symmetrically installed on the upper end of the base 1. The square protection assembly is composed of four protection plates 13. The upper end of the base 1 is connected to the lead screw 9 through a bearing on the inner side of the protection assembly. A driven gear 28 is installed at the lower part of the lead screw 9. A thread sleeve 4 is sleeved on the lead screw 9. A lifting arm 12 is sleeved at the step on the thread sleeve 4. A positioning plate 20 is arranged on the upper end of the lifting arm 12. The lifting arm 12 is a cylindrical structure with an opening at the lower end. A second motor 22 is fixedly installed on the upper inner end of the lifting arm 12 by screws. The motor shaft of the second motor 22 is screwed in The bolt is fixedly connected to the swivel seat 7, and a rotating plate 11 is fixedly installed at the lower end of the swivel seat 7. A first annular ball groove is provided at the corresponding positions of the rotating plate 11 and the positioning plate 20, and a first ball is installed in the first ball groove. A working arm 8 is fixedly installed at the upper end of the swivel seat 7, and a first motor 2 is installed at the upper end of the base 1 corresponding to the protective assembly. The motor shaft of the first motor 2 is connected to the rotating shaft 3 through a coupling, and the rotating shaft 3 is connected to the protective plate 13 near the first motor 2 through a bearing. A driving gear 29 is fixedly installed at the other end of the rotating shaft 3, and the driving gear 29 is meshed and connected to the driven gear 28. Avoidance grooves 5 are provided on the left and right sides of the lifting arm 12, and a bearing seat 30 is installed at the upper end of the lead screw 9. Fixed rods 6 are welded at the corresponding avoidance grooves 5 on both sides of the bearing seat 30, and the other end of the fixed rod 6 is fixedly connected to the top of the corresponding protective plate 13. Fixed arms 24 are welded on the front and rear sides of the upper part of the lifting arm 12, and the lower side of the other end of the fixed arm 24 is fixedly connected to the telescopic rod 26, and the lower end of the telescopic rod 26 is fixedly installed on the upper end of the base 1 by screws.

[0034] The guide assembly 16 includes a sleeve 161, a second ball 162 and a positioning plug 163. The sleeve 161 is threadedly connected to the lower part of the claw arm 15. The second ball 162 is installed inside the sleeve 161. The sleeve 161 mouth is installed with a positioning plug 163 that cooperates with the second ball 162.

[0035] A shock-absorbing and anti-skid pad is arranged at the lower end of the pad 18, and the shock-absorbing and anti-skid pad is a rubber pad.

[0036] The rotating plate 11 is an annular plate composed of two fan ring plates.

[0037] A first travel switch 21 is installed at the upper end of the avoidance groove 5 , and a second travel switch is installed at the lower end of the bearing seat 30 corresponding to the thread sleeve 4 .

[0038] A reinforcement holder 25 is fixedly mounted on the upper portion of the outer sleeve of the telescopic rod 26 , and the reinforcement holder 25 is connected to the corresponding protection plate 13 via screws.

[0039] A level 27 is installed on two mutually perpendicular side surfaces of the base 1 .

[0040] A controller 10 is installed in the middle of the upper end of the base 1, and the controller 10 is installed with a display screen, function keys and a driving handle.

[0041] A processing technology for a multi-axis robot arm, the process comprising the following steps:

[0042] 1. Test the relevant parts of the multi-axis robot arm and use relevant testing instruments and methods to perform quality inspection on the relevant parts;

[0043] 2. Assemble the relevant parts of the multi-axis robot arm on the assembly line;

[0044] 3. Perform performance test on the assembled multi-axis robot arm, mainly including the following test steps:

[0045] (I) Preparation before the test: Connect the multi-axis robot arm to be tested to the power supply, and check whether the parameters of the multi-axis robot arm are correct through the display screen on the controller 10. If the parameters are normal, proceed to the next step. If the parameters are abnormal, mark and explain, and then uniformly detect and troubleshoot;

[0046] (ii) Manual test: manually control the multi-axis robot arm through the function buttons or driving handles on the controller 10 to complete the corresponding command work. If the manual test is normal, proceed to the next step. If the manual test is abnormal, mark and explain, and then uniformly detect and troubleshoot;

[0047] (III) Automatic testing: input corresponding working program instructions to the controller of the multi-axis robot arm that has been tested normally manually to conduct automatic testing. If the automatic test is normal, proceed to the next step. If the automatic test is abnormal, mark the explanation and then conduct unified detection and troubleshooting;

[0048] 4. The multi-axis robot arms that have passed normal performance tests will be packaged and shipped out of the factory.

[0049] The working principle of this multi-axis robot arm is:

[0050] When the multi-axis robot arm is used, the multi-axis robot arm is placed in the corresponding position, and the electric cylinder 17 is used to adjust the level. After the level adjustment is completed, the power is turned on, and the corresponding working program is input through the function key on the controller 10. The controller 10 controls the position of the thread sleeve 4 on the lead screw 9 by controlling the rotation of the first motor, and then determines the position of the swivel seat 7. By controlling the operation of the second motor 22, the rotation angle of the swivel seat 7 is adjusted, and the working arm 8 is used to complete the corresponding work. The structure composed of the base plate 14, the claw arm 15, the guide assembly 16 and the ball head 19 installed at the lower end of the base 1 can ensure that the force of the base 1 is more balanced, and the execution accuracy of the robot arm is higher when working, and at the same time, the leveling operation of the base 1 is more convenient. In addition, the robot arm adopts an independent double working unit to make the work efficiency higher.

[0051] 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.

[0052] 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 multi-axis robotic arm, mainly comprising a base (1), characterized in that: The base (1) is symmetrically provided with a seat plate (14) at four corners of the lower end thereof. At least three claw arms (15) are welded at equal intervals at the lower end of the seat plate (14). The lower part of the claw arm (15) is threadedly connected to a guide assembly (16). The claw arm (15) is connected to a ball head (19) via the guide assembly (16). The guide assembly (16) comprises a sleeve (161), a second ball (162) and a positioning plug (163). The sleeve (161) is threadedly connected to the lower part of the claw arm (15). The second ball (162) is installed inside the sleeve (161). The sleeve (161) is provided with a positioning plug (163) that matches the second ball (162). 63), the lower end of the ball head (19) is threadedly connected to the upper end of the electric cylinder (17), the lower end of the electric cylinder (17) is fixedly connected to the pad (18), the upper end of the base (1) is symmetrically mounted with two sets of protection components, the protection components are composed of four protection plates (13), the upper end of the base (1) is connected to the lead screw (9) through a bearing on the inner side of the protection component, the lower part of the lead screw (9) is mounted with a driven gear (28), the lead screw (9) is sleeved with a thread sleeve (4), the step on the thread sleeve (4) is sleeved with a lifting arm (12), the upper end of the lifting arm (12) is provided with a positioning plate (20), the lifting arm (12) is a cylindrical structure with an open lower end, A second motor (22) is fixedly mounted on the inner upper end of the lifting arm (12) by means of screws, the motor shaft of the second motor (22) is fixedly connected to the rotating seat (7) by means of bolts, a rotating plate (11) is fixedly mounted on the lower end of the rotating seat (7), a first annular ball groove is provided at the corresponding positions of the rotating plate (11) and the positioning plate (20), a first ball is installed in the first ball groove, a working arm (8) is fixedly mounted on the upper end of the rotating seat (7), a first motor (2) is installed on the upper end of the base (1) corresponding to the protective assembly, the motor shaft of the first motor (2) is connected to the rotating shaft (3) by means of a coupling, and the rotating shaft (3) is connected to the protective plate (13) near the first motor (2) by means of a bearing A driving gear (29) is fixedly mounted on the other end of the rotating shaft (3), and the driving gear (29) is meshedly connected to the driven gear (28). Avoidance grooves (5) are provided on the left and right sides of the lifting arm (12). A bearing seat (30) is mounted on the upper end of the lead screw (9). Fixed rods (6) are welded at the corresponding avoidance grooves (5) on both sides of the bearing seat (30). The other end of the fixed rod (6) is fixedly connected to the top of the corresponding protective plate (13). Fixed arms (24) are welded on the front and rear sides of the upper part of the lifting arm (12). The lower side of the other end of the fixed arm (24) is fixedly connected to a telescopic rod (26). The lower end of the telescopic rod (26) is fixedly mounted on the upper end of the base (1) by screws.

2. The multi-axis robotic arm according to claim 1, characterized in that: A shock-absorbing and anti-skid pad is arranged at the lower end of the pad (18), and the shock-absorbing and anti-skid pad is a rubber pad.

3. The multi-axis robotic arm according to claim 1, characterized in that: The rotating plate (11) is an annular plate composed of two fan ring plates.

4. The multi-axis robotic arm according to claim 1, characterized in that: A first travel switch (21) is installed at the upper end of the avoidance groove (5), and a second travel switch is installed at the lower end of the bearing seat (30) corresponding to the thread sleeve (4).

5. The multi-axis robotic arm according to claim 1, characterized in that: A reinforcement base (25) is fixedly mounted on the upper portion of the outer sleeve of the telescopic rod (26), and the reinforcement base (25) is connected to the corresponding protection plate (13) via screws.

6. The multi-axis robotic arm according to claim 1, characterized in that: Two mutually perpendicular side surfaces of the base (1) are both provided with a level ruler (27).

7. The multi-axis robotic arm according to claim 1, characterized in that: A controller (10) is installed in the middle of the upper end of the base (1), and the controller (10) is installed with a display screen, function keys and a driving handle.

8. The processing technology of the multi-axis robot arm according to claim 7, the process comprising the following steps:

1. Test the relevant parts of the multi-axis robot arm and use relevant testing instruments and methods to perform quality inspection on the relevant parts; 2. Assemble the relevant parts of the multi-axis robot arm on the assembly line; 3. Perform performance test on the assembled multi-axis robot arm, mainly including the following test steps: (i) Preparation before testing: connect the multi-axis robot arm to be tested to a power source, and check whether the parameters of the multi-axis robot arm are correct through the display screen on the controller (10). If the parameters are normal, proceed to the next step; if the parameters are abnormal, mark and explain, and then uniformly perform detection and troubleshooting; (ii) Manual test: manually control the multi-axis robot arm through the function buttons or driving handle on the controller (10) to complete the corresponding command work. If the manual test is normal, proceed to the next step. If the manual test is abnormal, mark it and explain it, and then uniformly detect and troubleshoot; (III) Automatic testing: input corresponding working program instructions to the controller of the multi-axis robot arm that has been tested normally manually to conduct automatic testing. If the automatic test is normal, proceed to the next step. If the automatic test is abnormal, mark the explanation and then conduct unified detection and troubleshooting; 4. The multi-axis robot arms that have passed normal performance tests will be packaged and shipped out of the factory.

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