Five-axis degree-of-freedom manipulator special for vacuum cup

Abstract

The invention relates to a five-axis degree-of-freedom manipulator special for a vacuum cup. The five-axis freedom degree mechanical arm special for the vacuum cup comprises a clamping jaw, a clamping jaw rotating mechanism, a hand rotating mechanism and an arm lifting mechanism, clamping heads on the two sides of the clamping jaw are used for independent clamping, the clamping jaw rotating mechanism is arranged at the upper end of the clamping jaw and used for driving the clamping jaw to rotate by 360 degrees, and the hand rotating mechanism and the clamping jaw rotating mechanism are arranged in a 90-degree mode. And the arm lifting mechanism is used for driving the hand rotating mechanism to lift up and down. After the structure is adopted, the whole structure of the five-axis degree-of-freedom manipulator is very simple and reasonable, meanwhile, the clamping jaw has the height adjusting and angle adjusting functions, and the clamping jaw rotating mechanism also has the angle adjusting function, so that the degree of freedom of angle adjustment of the whole manipulator is very high, the mounting of different polishing machines is facilitated, and meanwhile, the whole positioning is accurate.

Description

Technical Field

[0001] The invention belongs to the field of thermos cups, in particular to a five-axis freedom manipulator specially used for thermos cups. Background Art

[0002] With the development of society, people's demands for a higher quality of life are becoming increasingly stringent. This has led to increasing demands not only for the material, appearance, and performance of cups, but also for the quality of the cups themselves. From the earliest glass cups to the now-popular stainless steel thermos, stainless steel thermoses are beautifully designed, durable, and offer excellent heat preservation properties, making them a common daily necessity. During the processing of stainless steel thermoses, a weld seam forms on the cup body due to stamping, welding, and cutting. This seam must first be polished. Workers place the formed cup body on a grinding machine to polish the weld seam. Another machine then rough-processes the outer surface of the cup body. Another machine then polishes the cup body once more. Finally, a final fine polishing is performed on a fine polishing machine to achieve the desired polishing accuracy. The rim of the cup must also be polished, a process that also requires multiple steps. Currently, the surface grinding and polishing processes for stainless steel cups in China are primarily performed by traditional hand polishing, mechanical automatic polishing, and fully automated assembly line polishing. Traditional hand polishing is slow, while mechanical automatic polishing typically uses an automatic disc polishing machine. Depending on the disc polishing machine's production capacity, this can reduce the number of hand polishing machines, but manual loading and unloading is still required. Fully automated assembly line polishing adds a robotic arm to replace manual loading and unloading, based on the mechanical automatic polishing process. Currently, specialized robotic arms are widely used in various manufacturing industries, such as electrical appliance manufacturing, automotive manufacturing, plastics processing, general machinery manufacturing, and metalworking. With the further development of social production and advancements in science and technology, the functions and performance of specialized robotic arms will be further improved and enhanced. However, existing robotic arms are generally general-purpose, lacking the advantages of relatively simple structure, low cost, reliable operation, and diverse rotation angles. Therefore, the industry urgently needs a specialized robotic arm for thermos cups that is easier to assemble, more flexible, and has higher positioning accuracy. Summary of the Invention

[0003] In view of the defects of the existing special processing robot for thermos cups, the technical problem to be solved by the present invention is to provide a special processing robot for thermos cups with a higher degree of freedom, a simpler overall structure and easy assembly.

[0004] To achieve the above-mentioned object, according to one aspect of the present invention, the present invention is implemented by the following technical measures: a five-axis degree of freedom manipulator dedicated to a thermos cup, comprising:

[0005] The clamping jaws have chucks on both sides for independent clamping;

[0006] The jaw rotating mechanism is provided at the upper end of the jaw and is used to drive the jaw to rotate 360 ​​degrees;

[0007] A hand rotating mechanism, which is arranged at 90 degrees to the clamping jaw rotating mechanism and is used to drive the clamping jaw rotating mechanism to rotate;

[0008] An arm lifting mechanism is used to drive the hand rotating mechanism to move up and down.

[0009] The overall structure of this five-axis freedom robot specially designed for thermos cups is very simple and reasonable. At the same time, the clamping jaws have height adjustment and angle adjustment functions, and the clamping jaw rotation mechanism also has the angle adjustment function. This makes the degree of freedom of angle adjustment of the entire robot very high, which is convenient for the installation of different polishing machines.

[0010] Furthermore, the clamping jaw rotation mechanism includes a rotating motor assembly, a photoelectric rotary encoder, a high-precision harmonic reduction transmission mechanism and a rotating shaft. The rotating shaft is fixed to the clamping jaw. The rotating motor assembly drives the rotating shaft to rotate through the high-precision harmonic reduction transmission mechanism. The photoelectric rotary encoder is used to control the rotating motor assembly.

[0011] Furthermore, the clamping jaw includes a clamping jaw seat, and a double-headed cylinder is fixed on both sides of the clamping jaw seat, and the cylinder head of the double-headed cylinder extends outward to form a clamping head.

[0012] Furthermore, the hand rotation mechanism includes an upper rotating plate, a lower rotating plate, a rotating motor assembly I, a photoelectric rotary encoder I and a high-precision harmonic reduction transmission mechanism I. The upper rotating plate and the lower rotating plate are superimposed on one end and are connected at the superposition point by a high-precision harmonic reduction transmission mechanism I. A pulley is provided at the upper end of the high-precision harmonic reduction transmission mechanism I. The rotating motor assembly I is fixed on the upper rotating plate, and a pulley is also provided at the lower end of the rotating motor assembly I. The two pulleys are connected by a belt. The photoelectric rotary encoder I is used to control the rotating motor assembly I.

[0013] Furthermore, a triangular reinforcement plate connected to the arm lifting mechanism is provided on each side of the upper rotating plate.

[0014] Furthermore, the arm lifting mechanism includes a fixed plate, a sliding plate, a servo motor and a planetary reduction mechanism. The fixed plate is provided with a slider, and the sliding plate is provided with a slide rail. The sliding plate is slidably connected with the slider on the fixed plate through the slide rail and can slide up and down along the fixed plate. One side of the fixed plate is used to fix the triangular reinforcement plate, and the other side is provided with a rack. The servo motor is connected to a power wheel engaged with the rack through the planetary reduction mechanism, and the servo motor provides power for the sliding of the sliding plate.

[0015] Furthermore, there are two fixed plates, which are arranged opposite to each other, and two groups of sliding blocks facing each other are fixed at opposite ends, and two sliding rails facing each other are provided on the sliding plates.

[0016] Furthermore, a hanging plate is provided on the upper end of the sliding plate, and two hanging heads are provided on the upper end of the hanging plate.

[0017] Compared with the existing technology, the advantages of the present invention are: the overall structure of the five-axis freedom manipulator is very simple and reasonable, and the clamping jaws have height adjustment and angle adjustment functions, and the clamping jaw rotation mechanism also has the angle adjustment function, which makes the angle adjustment freedom of the entire manipulator very high, convenient for the installation of different polishing machines, and the overall positioning is accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. In the drawings:

[0019] Figure 1 This is a schematic structural diagram of a five-axis degree-of-freedom manipulator specifically for thermos cups according to the present invention.

[0020] Figure 2 This is a schematic diagram of the clamping jaw structure of the present invention.

[0021] Figure 3 This is a structural schematic diagram of the hand rotation mechanism described in the present invention.

[0022] Figure 4 This is a structural schematic diagram of the handle lifting mechanism of the present invention.

[0023] Explanation of the accompanying drawings: 1. Gripper; 2. Gripper rotating mechanism; 3. Hand rotating mechanism; 4. Arm lifting mechanism; 5. Rotating motor assembly; 6. High-precision harmonic reduction transmission mechanism; 7. Rotating shaft; 8. Gripper seat; 9. Double-headed cylinder; 10. Chuck; 11. Upper rotating plate; 12. Lower rotating plate; 13. Rotating motor assembly I; 14. High-precision harmonic reduction transmission mechanism I; 15. Pulley; 16. Belt; 17. Triangular reinforcement plate; 18. Fixed plate; 19. Sliding plate; 20. Servo motor; 21. Slider; 22. Slide rail; 23. Rack; 24. Power wheel; 25. Suspension plate; 26. Suspension head. DETAILED DESCRIPTION

[0024] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0025] In the description of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", "bottom", "top", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying 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.

[0026] Example 1

[0027] Please refer to Figure 1 The embodiment provides a five-axis freedom manipulator for thermos cups, comprising a gripper 1, a gripper rotation mechanism 2, a hand rotation mechanism 3, and an arm lifting mechanism 4. Figure 2 Continuing to explain, the above-mentioned clamping jaw 1 includes a clamping jaw seat 8, and a double-headed cylinder 9 is fixed on the left and right sides of the clamping jaw seat 8. The two cylinder heads of the double-headed cylinder 9 are arranged front and rear, and the cylinder heads of the two double-headed cylinders 9 extend outward to form a clamping head 10. The above-mentioned clamping jaw rotating mechanism 2 includes a rotating motor assembly 5, a photoelectric rotary encoder, a high-precision harmonic reduction transmission mechanism 6 and a rotating shaft 7. The above-mentioned rotating shaft 7 is fixed to the upper end of the clamping jaw seat 8. The rotating motor assembly 5 is a servo motor, and drives the rotating shaft 7 to rotate through the high-precision harmonic reduction transmission mechanism 6. The above-mentioned photoelectric rotary encoder is used to control the rotating motor assembly 5, combined with Figure 3 Continuing to explain, the above-mentioned hand rotation mechanism 3 includes an upper rotating plate 11, a lower rotating plate 12, a rotating motor assembly I13, a photoelectric rotary encoder I and a high-precision harmonic reduction transmission mechanism I14. The upper rotating plate 11 and the lower rotating plate 12 are overlapped at one end, and are connected at the overlapping part by a high-precision harmonic reduction transmission mechanism I14. A pulley 15 is fixed to the upper end of the high-precision harmonic reduction transmission mechanism I14, and the rotating motor assembly I13 is fixed on the upper rotating plate 11. A pulley is also fixed to the lower end of the rotating motor assembly I13, and the two pulleys 15 are connected by a belt 16. At the same time, the above-mentioned photoelectric rotary encoder I is used to control the rotating motor assembly I13. Of course, the rotating motor assembly I13, the photoelectric rotary encoder I and the high-precision harmonic reduction transmission mechanism I14 are products with the same structure as the rotating motor assembly 5, the photoelectric rotary encoder, and the high-precision harmonic reduction transmission mechanism 6. Figure 4Continuing to explain, the arm lifting mechanism 4 includes a fixed plate 18, a sliding plate 19, a servo motor 20 and a planetary reduction mechanism. The fixed plates 18 are preferably two, and the two fixed plates 18 are arranged opposite to each other, and two groups of sliders 21 opposite to each other are fixed at the opposite ends. The right end of the sliding plate 19 is fixed with two slide rails 22. The sliding plate 19 is slidably connected with the sliders 21 on the two fixed plates 18 through the slide rails 22 and can slide up and down along the fixed plate 18. Two triangular reinforcement plates 17 connected to the right side of the upper rotating plate 11 are provided on the left side of the fixed plate 18, and a rack 23 located between the two slide rails 22 is fixed on the right side of the fixed plate 18. The servo motor 20 is connected to a power wheel 24 meshing with the rack 23 through a planetary reduction mechanism, and the servo motor 20 provides power for the sliding of the sliding plate 19.

[0028] During use, the sliding plate 19 can move up and down along the fixed plate 18 through the drive of the servo motor 20, and the lower rotating plate 12 can be rotated through the drive of the rotating motor assembly I13, so that the clamping claw rotating mechanism 2 fixed on the lower rotating plate 12 can also rotate accordingly. At the same time, the rotation of the rotating motor assembly 5 can also enable the clamping claw 1 to rotate 360 ​​degrees.

[0029] Of course, as a preferred structure, a hanging plate 25 is fixed to the upper end of the sliding plate 19, and two hanging heads 26 are fixed to the upper end of the hanging plate 25.

[0030] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A five-axis freedom manipulator for thermos cups, characterized by: include: A clamping jaw, wherein the clamping heads on both sides of the clamping jaw are independently clamped; A jaw rotating mechanism, which is disposed at the upper end of the jaw and is used to drive the jaw to rotate 360 ​​degrees; A hand rotating mechanism, the hand rotating mechanism and the clamping jaw rotating mechanism are arranged at 90 degrees, and are used to drive the clamping jaw rotating mechanism to rotate; An arm lifting mechanism is used to drive the hand rotating mechanism to move up and down.

2. The five-axis freedom manipulator for a thermos cup according to claim 1, characterized in that: The clamping jaw rotating mechanism includes a rotating motor assembly, a photoelectric rotary encoder, a high-precision harmonic reduction transmission mechanism and a rotating shaft. The rotating shaft is fixed to the clamping jaw. The rotating motor assembly drives the rotating shaft to rotate through the high-precision harmonic reduction transmission mechanism. The photoelectric rotary encoder is used to control the rotating motor assembly.

3. A five-axis freedom manipulator for a thermos cup according to claim 1 or 2, characterized in that: The clamping jaw comprises a clamping jaw seat, and a double-headed cylinder is fixed on both sides of the clamping jaw seat, and the cylinder head of the double-headed cylinder extends outward to form a clamping head.

4. The five-axis freedom manipulator for a thermos cup according to claim 1, characterized in that: The hand rotating mechanism includes an upper rotating plate, a lower rotating plate, a rotating motor component I, a photoelectric rotary encoder I and a high-precision harmonic reduction transmission mechanism I. The upper rotating plate and one end of the lower rotating plate are superimposed on each other and are connected at the superposition position by the high-precision harmonic reduction transmission mechanism I. A pulley is provided at the upper end of the high-precision harmonic reduction transmission mechanism I. The rotating motor component I is fixed on the upper rotating plate. A pulley is also provided at the lower end of the rotating motor component I, and the two pulleys are connected by a belt. The photoelectric rotary encoder I is used to control the rotating motor component I.

5. The five-axis freedom manipulator for a thermos cup according to claim 4, characterized in that: A triangular reinforcing plate connected to the arm lifting mechanism is respectively arranged on both sides of the upper rotating plate.

6. The five-axis freedom manipulator for a thermos cup according to claim 5, characterized in that: The arm lifting mechanism includes a fixed plate, a sliding plate, a servo motor and a planetary reduction mechanism. The fixed plate is provided with a slider, and the sliding plate is provided with a slide rail. The sliding plate can slide up and down along the fixed plate through the slide rail and the slider on the fixed plate. One side of the fixed plate is fixed by a triangular reinforcement plate, and the other side is provided with a rack. The servo motor is connected to a power wheel meshing with the rack through the planetary reduction mechanism, and the servo motor provides power for the sliding of the sliding plate.

7. The five-axis freedom manipulator for a thermos cup according to claim 6, characterized in that: There are two fixing plates, which are arranged opposite to each other, and two groups of sliding blocks facing each other are fixed at opposite ends, and two sliding rails facing each other are arranged on the sliding plates.

8. The five-axis freedom manipulator for a thermos cup according to claim 7, characterized in that: The upper end of the sliding plate is provided with a hanging plate, and the upper end of the hanging plate is provided with two hanging heads.

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