Multi-degree-of-freedom manipulator for furniture assembly plate machining

Abstract

The invention relates to the technical field of plate machining equipment, and particularly discloses a multi-degree-of-freedom manipulator for furniture assembly plate machining, which comprises a base, a dip angle arm group, a lifting arm group and a picking arm group, the dip angle arm group is fixedly arranged at the left end of the base, the lifting arm group is fixedly arranged on the dip angle arm group, and the picking arm group is fixedly arranged on the base. The picking arm group is fixedly arranged on the lifting arm group; wherein the inclination angle arm group is used for multi-dimensional inclination adjustment, the lifting arm group is used for controlling lifting, and the picking arm group is used for adsorbing and picking a plate and driving the plate to turn over and rotate. Front-back inclination and left-right inclination of the plate are achieved through the inclination angle arm group, and the requirement for a complex machining angle is met; the lifting arm set supports lifting and turnover of the plates to meet the requirements of different working procedures, the picking arm set automatically picks up the plates and drives the plates to rotate, the machining flexibility is further expanded, multi-dimensional accurate regulation and control can be achieved, the requirements of complex machining tasks are met, and manual intervention is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of plate processing equipment, in particular to a multi-degree-of-freedom manipulator used for processing furniture assembly plates. Background Art

[0002] Wood board processing usually includes cutting, carving, drilling, grinding and other processes, and some furniture requires hemming and edge processing after board processing; however, different furniture and different parts use different board sizes, and the larger the board, the heavier it is. It is extremely inconvenient to assemble it manually by hand or on a single processing table, and it is also relatively unstable and laborious to do it manually. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problem of the inconvenience of the existing plate processing, and to provide a multi-degree-of-freedom manipulator for furniture assembly plate processing, so that the plate can be adjusted in multiple dimensions according to the needs after being fixed, so as to facilitate the processing of the plate in different positions and different processes. To achieve the purpose of the present invention, the following technical scheme is adopted.

[0004] In order to achieve the above-mentioned solution, the present invention provides the following technical solutions: a multi-degree-of-freedom manipulator for furniture assembly board processing, comprising a base, a tilt arm group, a lifting and lowering arm group and a picking arm group, wherein the tilt arm group is fixedly arranged on the left end of the base, the lifting and lowering arm group is fixedly arranged on the tilt arm group, and the picking arm group is fixedly arranged on the lifting and lowering arm group; wherein the tilt arm group is used for multi-dimensional tilt adjustment, the lifting and lowering arm group is used for controlling lifting, and the picking arm group is used for adsorbing and picking up the board and driving the board to flip and rotate.

[0005] Preferably, the inclination arm group includes a pair of inclination assemblies, the pair of inclination assemblies are relatively superimposed and arranged, and the inclination assemblies are relatively staggered; the inclination assembly includes a flip frame, a pair of gear seats, a support plate, a first motor and a first driving gear; the flip frame is concave, and the inner opposite side walls at both ends of the flip frame are symmetrically provided with arc-shaped limiting grooves connected with the upper wall surface, the pair of gear seats are semi-gear structures, and the side walls of the gear seats are provided with arc-shaped bearing edges that match the arc-shaped limiting grooves, the pair of gear seats are respectively movably arranged on the inner side walls at both ends of the flip frame, and the arc-shaped bearing edges of the gear seats are movably inserted in the arc-shaped limiting grooves, the two ends of the support plate are respectively fixedly connected to the upper wall of the gear seat, the support plate is located between the two ends of the flip frame, the first motor is fixedly arranged on the inner lower wall of the flip frame, the first driving gear is fixedly sleeved on the driving end of the first motor, and the first driving gear is located below the middle of the gear seat, and the first driving gear is meshed with the gear seat.

[0006] Preferably, the landing arm group includes a landing gear, a first hydraulic cylinder, a landing arm, a turning seat, a turning shaft, a pair of mounting frames, a pair of electric slide rails and a pair of racks; the landing gear is concave, and two lifting grooves are symmetrically arranged on opposite side walls at both ends of the landing gear, the landing gear is fixedly arranged on a support plate of one of the inclination angle assemblies, one end of the first hydraulic cylinder is fixedly passed through the middle of the support plate and the middle of the landing gear, one end of the landing arm is movably embedded in the landing gear, and one end of the landing arm is matched with the lifting groove, one end of the landing arm is fixedly connected to the telescopic end of the first hydraulic cylinder, one end of the turning seat is fixedly sleeved on the other end of the landing arm, the turning shaft movably passes through the other end of the turning seat, a pair of the mounting frames are both Z-shaped structures, one end of the pair of the mounting frames is symmetrically arranged on the lower wall of the other end of the turning seat, one end of the pair of the electric slide rails is fixedly arranged on the other end of the mounting frame, and the electric slide rail is located below the turning shaft, and one end of the pair of racks is fixedly arranged on the electric slide rail.

[0007] Preferably, the picking arm group includes a rotating frame, a pair of flip gears, an extension arm, a driving seat, a rotating wheel, a second motor, a second driving gear, a pair of second hydraulic cylinders, a pair of suction cups and an air pump; the rotating frame is fixedly mounted on both ends of the flip shaft, the side wall of the rotating frame is L-shaped, the pair of flip gears are respectively fixedly mounted on both ends of the flip shaft, and the flip gears are engaged with the rack, one end of the extension arm is fixedly arranged on the rotating frame, the driving seat is fixedly arranged on the other end of the extension arm, both ends of the driving seat are annular structures, and the rotating wheel The lower two side walls are both provided with snap rings, the rotating wheel is movably embedded between the two ends of the driving seat, and the snap ring is movably sleeved on the driving seat, the second motor is fixedly arranged on the inner lower wall of the driving seat, the second driving gear is fixedly sleeved on the driving end of the second motor, and the second driving gear is engaged with the rotating wheel, one end of a pair of the second hydraulic cylinders are respectively fixed through the middle of the rotating wheel and are symmetrical to each other, a pair of the suction cups are respectively fixedly arranged on the telescopic ends of the second hydraulic cylinders, the air pump is fixedly arranged on the inner lower wall of the extension arm, and the air pump suction ends are respectively connected to the suction cups through pipes.

[0008] Preferably, the rotating gear is driven to rotate through the rack and drives the rotating frame to flip 180 degrees.

[0009] Preferably, the suction cup can be oriented upward or downward.

[0010] Preferably, the suction cup can be located above the left end of the flip seat.

[0011] Preferably, the tilt angle assembly flips forwards and backwards and left and right respectively.

[0012] The invention proposes a multi-degree-of-freedom manipulator for processing furniture assembly panels, which has the following beneficial effects: the scheme realizes multi-directional and multi-angle panel control through the tilt arm group, the lifting arm group and the picking arm group, and has the following significant advantages: 1. The present invention realizes the front and rear tilting and left and right tilting of the plate through the tilt arm group to meet the complex processing angle requirements, supports the lifting and turning of the plate through the lifting and lowering arm group to adapt to the requirements of different processes, and automatically picks up the plate through the picking arm group and drives it to rotate, further expanding the processing flexibility, and can achieve multi-dimensional precise control to meet the needs of complex processing tasks and reduce manual intervention.

[0013] 2. The present invention can achieve accurate positioning and stable clamping of the plate, reduce errors caused by manual operation, and significantly improve processing accuracy. At the same time, the automated operation process greatly shortens the processing time and improves production efficiency.

[0014] 3. The present invention reduces the reliance on manual labor and reduces labor costs through the automated plate picking, handling and adjustment process. At the same time, it avoids the safety risks that may be caused by manual handling of heavy objects and reduces the labor intensity of workers.

[0015] 4. The present invention can adapt to the processing needs of plates of various sizes and shapes through the coordinated cooperation of various arm groups, improve the versatility and applicability of the equipment, and meet diversified production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the assembly structure of the present invention; Figure 2 It is a schematic diagram of the disassembly structure of the tilt arm group of the present invention; Figure 3 for Figure 2 Schematic diagram of the assembly structure; Figure 4 It is a schematic diagram of the disassembly structure of the lifting and lowering arm assembly of the present invention; Figure 5 for Figure 4 Schematic diagram of the assembly structure; Figure 6 It is a schematic diagram of the disassembly structure of the pickup arm assembly of the present invention; Figure 7 for Figure 6 Schematic diagram of the assembly structure; Figure 8 Show the structural diagram for the first part; Fig. 9 Show the structural diagram for the second part; Fig.10 for Figure 2 A partial enlarged view of point A in the figure.

[0017] In the figure: 1. base; 2. tilt arm group; 21. flip frame; 22. gear seat; 23. support plate; 24. first motor; 25. first drive gear; 3. lifting arm group; 31. landing gear; 32. first hydraulic cylinder; 33. lifting arm; 34. flip seat; 35. flip axis; 36. mounting frame; 37. electric slide rail; 38. rack; 4. picking arm group; 41. rotating frame; 42. flip gear; 43. extension arm; 44. drive seat; 45. rotating wheel; 46. second motor; 47. second drive gear; 48. second hydraulic cylinder; 49. suction cup; 50. air pump; 61. arc limit groove; 62. arc load-bearing edge; 71. snap ring. DETAILED DESCRIPTION

[0018] The specific implementation modes of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0019] like Figure 1-Figure 10 As shown, the present invention provides a technical solution: a multi-degree-of-freedom manipulator for processing furniture assembly panels, comprising a base 1, a tilt arm group 2, a lifting and lowering arm group 3 and a picking arm group 4, wherein the tilt arm group 2 is fixedly arranged on the left end of the base 1, the lifting and lowering arm group 3 is fixedly arranged on the tilt arm group 2, and the picking arm group 4 is fixedly arranged on the lifting and lowering arm group 3; wherein the tilt arm group 2 is used for multi-dimensional tilt adjustment, the lifting and lowering arm group 3 is used for controlling lifting, and the picking arm group 4 is used for adsorbing and picking up panels and driving the panels to flip and rotate.

[0020] As a further embodiment of the present invention, Figure 8 As shown, the tilt arm group 2 includes a pair of tilt components, which are relatively superimposed and relatively staggered. The tilt components can be flipped forward and backward and left and right respectively for multi-dimensional and multi-angle adjustment.

[0021] As a further embodiment of the present invention, Figure 2 , Figure 3 and Fig.10As shown, in order to realize the front-back tilt and left-right tilt of the plate, the tilting assembly includes a flip frame 21, a pair of tooth seats 22, a support plate 23, a first motor 24 and a first driving gear 25; the flip frame 21 is concave, and the inner opposite side walls at both ends of the flip frame 21 are symmetrically provided with arc-shaped limit grooves 61 connected to the upper wall surface, the pair of tooth seats 22 are both semi-gear structures, and the side walls of the tooth seats 22 are provided with arc-shaped bearing edges 62 that match the arc-shaped limit grooves 61, the pair of tooth seats 22 are respectively movably arranged on the inner side walls at both ends of the flip frame 21, and the arc-shaped bearing edges 62 of the tooth seats 22 are movably inserted in the arc-shaped limit grooves 61. 1, both ends of the support plate 23 are respectively fixedly connected to the upper wall of the gear seat 22, the support plate 23 is located between the two ends of the flip frame 21, the first motor 24 is fixedly arranged on the lower wall of the flip frame 21, the first driving gear 25 is fixedly sleeved on the driving end of the first motor 24, and the first driving gear 25 is located below the middle of the gear seat 22, and the first driving gear 25 is engaged with the gear seat 22; the first motor 24 drives the first driving gear 25, and the first driving gear 25 is engaged with the gear seat 22 to drive the gear seat 22 to rotate in the arc-shaped limiting groove 61 through the arc-shaped bearing edge 62, so as to adjust the inclination angle of the support plate 23.

[0022] As a further embodiment of the present invention, Figure 4 and Figure 5 As shown, in order to support the lifting and flipping of the plate, the landing arm group 3 includes a landing gear 31, a first hydraulic cylinder 32, a landing arm 33, a flip seat 34, a flip shaft 35, a pair of mounting frames 36, a pair of electric slide rails 37 and a pair of racks 38; the landing gear 31 is concave, and two lifting grooves are symmetrically arranged on the opposite side walls at both ends of the landing gear 31. The landing gear 31 is fixedly arranged on the support plate 23 of one of the tilting components, one end of the first hydraulic cylinder 32 is fixedly passed through the middle of the support plate 23 and the middle of the landing gear 31, one end of the landing arm 33 is movably embedded in the landing gear 31, and one end of the landing arm 33 is matched with the lifting groove, one end of the landing arm 33 is fixedly connected to the telescopic end of the first hydraulic cylinder 32, and one end of the flip seat 34 is fixedly sleeved on the landing gear 31. On the other end of the drop arm 33, the flip shaft 35 movably runs through the other end of the flip seat 34, a pair of mounting frames 36 are both Z-shaped structures, one end of a pair of mounting frames 36 are symmetrically arranged on the lower wall of the other end of the flip seat 34, one end of a pair of electric slide rails 37 are respectively fixedly arranged on the other end of the mounting frames 36, and the electric slide rails 37 are located below the flip shaft 35, one end of a pair of racks 38 are respectively fixedly arranged on the electric slide rails 37, and the racks 38 move left and right; the first hydraulic cylinder 32 drives the drop arm 33 to lift and lower the height of the flip seat 34 in the landing gear 31, and the electric slide rail 37 drives the rack 38 to move left and right, and the rotating gear is driven to rotate through the rack 38 and drives the rotating frame 41 to flip 180 degrees, which is used to realize the flipping of the plate according to design requirements.

[0023] As a further embodiment of the present invention, Figure 6 , Figure 7 and Fig. 9 As shown, in order to automatically pick up the plate and drive it to rotate, the picking arm group 4 includes a rotating frame 41, a pair of flip gears 42, an extension arm 43, a driving seat 44, a rotating wheel 45, a second motor 46, a second driving gear 47, a pair of second hydraulic cylinders 48, a pair of suction cups 49 and an air pump 50; the rotating frame 41 is fixedly sleeved on both ends of the flip shaft 35, the side wall of the rotating frame 41 is L-shaped, the pair of flip gears 42 are respectively fixedly sleeved on both ends of the flip shaft 35, and the flip gear 42 is engaged with the rack 38, one end of the extension arm 43 is fixedly set on the rotating frame 41, the driving seat 44 is fixedly set on the other end of the extension arm 43, both ends of the driving seat 44 are annular structures, the upper and lower side walls of the rotating wheel 45 are provided with snap rings 71, the rotating wheel 45 is movably embedded between the two ends of the driving seat 44, and the snap ring 71 is movably sleeved on the driving seat 44, the second motor 46 is fixedly set on the inner lower wall of the driving seat 44, and the second driving gear 47 is fixedly sleeved on the first On the driving end of the second motor 46, and the second driving gear 47 is engaged with the rotating wheel 45, one end of a pair of second hydraulic cylinders 48 is fixedly passed through the middle of the rotating wheel 45 and is symmetrical to each other, a pair of suction cups 49 are fixedly arranged on the telescopic end of the second hydraulic cylinder 48, and the air pump 50 is fixedly arranged on the inner lower wall of the extension arm 43, and the suction end of the air pump 50 is connected to the suction cup 49 through a pipeline; the suction cup 49 is driven to rise and fall by the second hydraulic cylinder 48, and the suction force is generated by the air pump 50 to absorb and fix the plate with the help of the suction cup 49, and the plate can be turned over by driving the rotating frame 41 to turn over by the rotating gear, and the second motor 46 drives the second driving gear 47 to drive the rotating wheel 45 to rotate in the driving frame, that is, drive the plate to rotate, the direction of the suction cup 49 can be upward or downward, which is used to realize the automatic picking and turning of the plate according to the design requirements, and the suction cup 49 can be located above the left end of the turning seat 34, and is used to be located above the landing gear 31 after the plate is turned over to carry and improve stability.

[0024] The detailed connection means are well-known in the art. The following mainly introduces the working principle and process. The specific work is as follows.

[0025] The base 1 stably supports the device. After the device is powered on, the pick-up arm group 4 can be used to automatically pick up the plate. The lifting arm group 3 drives the plate to rise and fall and turn over. The tilt arm group 2 drives the plate to adjust its angle and direction in multiple dimensions. The electric slide rail 37 on the mounting frame 36 of the lifting arm assembly 3 drives the rack 38 to move to the left, so as to drive the rotating gear to rotate forward on the flip seat 34 with the help of the flip shaft 35, thereby driving the rotating frame 41 to flip, so that the suction cup 49 on the rotating frame 41 is located above the right side of the base 1, and at this time, the extension arm 43 and the driving seat 44 are both located below the flip seat 34, so that the suction cup 49 is lowered to a certain height after flipping; Then, the two second hydraulic cylinders 48 are controlled to extend to drive the suction cups 49 to descend and contact the plate, and the air pump 50 can be used to draw air to cause the suction cups 49 to generate suction to adsorb and fix the plate; then, the second hydraulic cylinders 48 are used to contract to drive the plate to rise to a certain height, and then the plate can be processed; if the plate needs to be turned over, the electric slide rail 37 is driven to drive the rack 38 to move to the right to drive the rotating seat to turn 180 degrees, so that the suction cups 49 drive the plate to be located above the left end of the turning seat 34 to achieve turning over; When the hydraulic cylinder extends to drive the suction cup 49 to descend, or the plate is at a high height after being turned over, the lifting arm assembly 3 can also be driven to lower its height; that is, the first hydraulic cylinder 32 is driven to drive the lifting arm 33 to limit and descend in the landing gear 31, thereby lowering the height of the turning seat 34 and the picking arm assembly 4; The equipment drives the second motor 46 to drive the second driving gear 47 to rotate, and the second driving gear 47 engages with the rotating wheel 45 to drive the rotating wheel 45 to rotate between the two ends of the driving seat 44 with the help of the clamping ring 71, thereby driving the second hydraulic cylinder 48 and the plate to rotate and adjust the direction; The inclination angle and inclination direction of the plate are adjusted by driving the inclination arm group 2; since the inclination arm group 2 is relatively stacked and vertically arranged by two inclination components, that is, the tooth seat 22 in the inclination component rotates in the front and rear directions and the left and right directions respectively; that is, the first motor 24 is driven to drive the first driving gear 25, and the first driving gear 25 is engaged with the tooth seat 22 to drive the tooth seat 22 to rotate in the arc-shaped limiting groove 61 of the turning frame 21 with the help of the arc-shaped bearing edge 62, so as to adjust the inclination angle of the support plate 23 on the turning frame 21, and realize multi-dimensional and multi-directional angle adjustment through the cooperation of the two inclination components, that is, the support plate 23 can drive the lifting and lowering arm group 3 to adjust the inclination angle, thereby driving the plate to adjust, and realizing an overall multi-dimensional manipulator, which can fix and adjust the plate for easy processing.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom manipulator for processing furniture assembly panels, characterized in that: The invention comprises a base (1), a tilt arm group (2), a lifting arm group (3) and a picking arm group (4), wherein the tilt arm group (2) is fixedly arranged on the left end of the base (1), the lifting arm group (3) is fixedly arranged on the tilt arm group (2), and the picking arm group (4) is fixedly arranged on the lifting arm group (3); The tilt arm group (2) is used for multi-dimensional tilt adjustment, the lifting arm group (3) is used for controlling lifting, and the picking arm group (4) is used for adsorbing and picking up the plate and driving the plate to flip and rotate; The tilt arm group (2) comprises a pair of tilt components, the pair of tilt components are arranged in a relatively superimposed manner, and the tilt components are arranged in a relatively staggered manner; The tilting assembly comprises a tilting frame (21), a pair of gear seats (22), a support plate (23), a first motor (24) and a first driving gear (25); The flip frame (21) is concave, and the inner opposite side walls at both ends of the flip frame (21) are symmetrically provided with arc-shaped limit grooves (61) connected to the upper wall surface. The pair of gear seats (22) are both semi-gear structures, and the side walls of the gear seats (22) are provided with arc-shaped bearing edges (62) that fit with the arc-shaped limit grooves (61). The pair of gear seats (22) are movably provided on the inner side walls at both ends of the flip frame (21), and the arc-shaped bearing edges (62) of the gear seats (22) are movably inserted into the arc-shaped limit grooves. The support plate (23) is fixedly connected to the upper wall of the gear seat (22) at two ends thereof, the support plate (23) is located between the two ends of the turning frame (21), the first motor (24) is fixedly arranged on the inner lower wall of the turning frame (21), the first driving gear (25) is fixedly sleeved on the driving end of the first motor (24), and the first driving gear (25) is located below the middle of the gear seat (22), and the first driving gear (25) is meshed with the gear seat (22).

2. A multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 1, characterized in that: The landing arm assembly (3) comprises a landing gear (31), a first hydraulic cylinder (32), a landing arm (33), a turning seat (34), a turning shaft (35), a pair of mounting frames (36), a pair of electric slide rails (37), and a pair of racks (38); The landing gear (31) is concave, and two lifting grooves are symmetrically arranged on opposite side walls at both ends of the landing gear (31). The landing gear (31) is fixedly arranged on a support plate (23) of one of the tilting components. One end of the first hydraulic cylinder (32) is fixedly passed through the middle of the support plate (23) and the middle of the landing gear (31). One end of the landing arm (33) is movably embedded in the landing gear (31), and one end of the landing arm (33) is matched with the lifting groove. One end of the landing arm (33) is fixedly connected to the telescopic end of the first hydraulic cylinder (32). One end of the rotating seat (34) is fixedly mounted on the other end of the lifting arm (33); the flip shaft (35) movably passes through the other end of the flip seat (34); the pair of mounting frames (36) are both Z-shaped structures; one end of the pair of mounting frames (36) are symmetrically arranged on the lower wall of the other end of the flip seat (34); one end of the pair of electric slide rails (37) are respectively fixedly arranged on the other end of the mounting frame (36); the electric slide rail (37) is located below the flip shaft (35); and one end of the pair of racks (38) are respectively fixedly arranged on the electric slide rail (37).

3. A multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 2, characterized in that: The picking arm assembly (4) comprises a rotating frame (41), a pair of flipping gears (42), an extension arm (43), a driving seat (44), a rotating wheel (45), a second motor (46), a second driving gear (47), a pair of second hydraulic cylinders (48), a pair of suction cups (49) and an air pump (50); The rotating frame (41) is fixedly mounted on both ends of the flip shaft (35), and the side wall of the rotating frame (41) is L-shaped. A pair of flip gears (42) are fixedly mounted on both ends of the flip shaft (35), and the flip gears (42) are engaged with the rack (38). One end of the extension arm (43) is fixedly arranged on the rotating frame (41), and the drive seat (44) is fixedly arranged on the other end of the extension arm (43). Both ends of the drive seat (44) are annular structures. The upper and lower side walls of the rotating wheel (45) are both provided with a snap ring (71). The rotating wheel (45) is movably embedded between the two ends of the drive seat (44), and the snap ring (71) is movably mounted on the driving seat (44), the second motor (46) is fixedly arranged on the inner lower wall of the driving seat (44), the second driving gear (47) is fixedly mounted on the driving end of the second motor (46), and the second driving gear (47) is engaged with the rotating wheel (45), one end of a pair of the second hydraulic cylinders (48) are respectively fixedly passed through the middle of the rotating wheel (45) and are symmetrical to each other, a pair of the suction cups (49) are respectively fixedly arranged on the telescopic ends of the second hydraulic cylinders (48), the air pump (50) is fixedly arranged on the inner lower wall of the extension arm (43), and the suction ends of the air pump (50) are respectively connected to the suction cups (49) through pipelines.

4. A multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 3, characterized in that: The flipping gear (42) is driven to rotate through the rack (38) and drives the rotating frame (41) to flip 180 degrees.

5. The multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 4, characterized in that: The suction cup (49) can be oriented upward or downward.

6. A multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 5, characterized in that: The suction cup (49) can be located above the left end of the turning seat (34).

7. A multi-degree-of-freedom manipulator for processing furniture assembly panels according to claim 6, characterized in that: The tilt angle assembly flips forward and backward and left and right respectively.

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