Five-degree-of-freedom carrying device and carrying method

Abstract

The five-degree-of-freedom carrying device comprises a base, the top of the base is connected with a waist connecting body, the end, away from the base, of the waist connecting body is connected with a fifth servo motor, an output shaft of the fifth servo motor is connected with a large arm, a three-phase asynchronous motor is connected into the base, and an output shaft of the three-phase asynchronous motor is connected with a transmission shaft. A shaft body of the transmission shaft is connected with the waist connector, the end, away from the fifth servo motor, of the large arm is connected with a small arm through a fourth servo motor, the end, away from the fourth servo motor, of the small arm is connected with a connecting wrist through a third servo motor, and the end, away from the third servo motor, of the connecting wrist is connected with a clamping unit. The invention further discloses a carrying method of the five-degree-of-freedom carrying device. The five degrees of freedom are driven by the independent servo motors, the requirement for multiple degrees of freedom during heavy-load operation is met, and the flexibility and adaptability of system movement are remarkably improved in cooperation with the parallelogram clamping jaw mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial robots, and particularly relates to a five-degree-of-freedom handling device, and also relates to a handling method of the device. Background Art

[0002] A handling robot is an industrial robot that replaces humans to complete material handling operations. It is widely used in multiple industries such as industrial manufacturing, warehousing and logistics, and port terminals, and is one of the most widely used industrial robots currently. On an automated production line, especially in workstations with high repetition, heavy labor intensity or safety risks such as material handling and loading and unloading of machine tools, the handling robot can effectively reduce labor intensity and improve work efficiency. Currently, the mainstream handling robots on the market are mostly medium and large-sized devices with two or four degrees of freedom for heavy-duty operations and macroscopic movements. The degree of freedom is too low to meet complex working environments, and the body structures of such robots are large, with large loads and poor movement flexibility, making it difficult to meet the actual needs of small and medium-sized enterprises for miniaturized, lightweight, and highly flexible equipment. Therefore, researching and developing a small five-degree-of-freedom handling robot with a compact structure, flexible movement, efficient control, and stable operation is of great significance for expanding the application scenarios of handling robots and improving the intelligent level of small and medium-sized enterprises. Summary of the Invention

[0003] The purpose of the present invention is to provide a five-degree-of-freedom handling device, which solves the problem of too low degree of freedom of handling robots in heavy-duty operations in the prior art.

[0004] Another purpose of the present invention is to provide a handling method for the five-degree-of-freedom handling device.

[0005] The technical solution adopted by the present invention is: a five-degree-of-freedom handling device, including a base, a waist connecting body is connected to the top of the base, a fifth servo motor is connected to the end of the waist connecting body away from the base, the output shaft of the fifth servo motor is connected to a large arm, a three-phase asynchronous motor is connected inside the base, the output shaft of the three-phase asynchronous motor is connected to a transmission shaft, the shaft body of the transmission shaft is connected to the waist connecting body, the end of the large arm away from the fifth servo motor is connected to a small arm through a fourth servo motor, the end of the small arm away from the fourth servo motor is connected to a connecting wrist through a third servo motor, and a clamping unit is connected to the end of the connecting wrist away from the third servo motor.

[0006] The characteristics of the present invention also lie in that, The waist connecting body includes a waist outer shell, a connecting body is connected to the inner wall of the waist outer shell through a tapered roller bearing, the bottom of the connecting body is connected to the base, a connecting cylinder is connected to the inner wall of the connecting body through a double-direction thrust ball bearing, the top of the connecting cylinder is connected to the inner top surface of the waist outer shell, and the transmission shaft is connected inside the connecting cylinder.

[0007] Upper end covers and lower end covers are respectively provided at both ends of the tapered roller bearing. The upper end cover is connected to the top of the connecting body, and the lower end cover is connected to the bottom of the waist housing.

[0008] One end of the boom is connected with a boom base. The boom base is connected with the waist housing and also connected with the fifth servo motor. The fifth servo motor is horizontally arranged, and the motor shaft of the fifth servo motor is connected with the end of the boom and the boom base through a key shaft.

[0009] The motor shaft of the fourth servo motor is connected with the end of the forearm through a key shaft. The motor shaft of the third servo motor is connected with a joint connecting member through a key shaft. The end of the joint connecting member far away from the third servo motor is connected with a second servo motor, and the motor shaft of the second servo motor is connected with the connecting wrist.

[0010] The connecting wrist includes a connecting shell. The connecting shell is connected with the clamping unit. A connecting shaft is connected inside the connecting shell. The connecting shaft is connected with the motor shaft of the second servo motor. A first tapered roller bearing is sleeved on the shaft body of the connecting shaft. The outer wall of the connecting shell is connected with a wrist shell through a connecting plate. The second servo motor is also connected with a connecting head. The connecting shaft passes through the connecting head and is connected with the inner top surface of the connecting shell. A second tapered roller bearing is arranged between the connecting head and the connecting plate, and a third tapered roller bearing is arranged between the connecting head and the connecting shell.

[0011] The clamping unit includes a bottom plate. Angle irons with an "L" - shaped structure are connected to both sides of the bottom plate. Both angle irons are connected with the connecting shell. A first servo motor is connected to one side plate surface of the bottom plate. The motor shaft of the first servo motor passes through the bottom plate and is connected with a clamping component.

[0012] The clamping component includes a transmission rotating shaft. The transmission rotating shaft is connected with the motor shaft of the first servo motor. A transmission gear is sleeved on the shaft body of the transmission rotating shaft. Two parallel rotating shafts are also penetrated through the plate surface of the bottom plate. A gear rod is sleeved on one end of the rotating shaft. One side of the bottom plate opposite to the gear rod is connected with a connecting rod through a thrust ball bearing. The two gear rods are meshed with each other, and the transmission gear is meshed with one of the gear rods. Two fixing rods are hinged on both side plate surfaces of the bottom plate. Claw jaws are arranged on both opposite sides of the bottom plate. The ends of the fixing rods, the connecting rod and the gear rod are all hinged with the claw jaws.

[0013] Another technical solution adopted by the present invention is a handling method of the five - degree - of - freedom handling device, which is specifically implemented according to the following steps: Step 1: Control the first servo motor to start, drive the transmission rotating shaft to rotate, and then drive the two claw jaws to move away from or close to each other through the transmission of the transmission gear and the gear rod to complete the clamping action; Step 2: Start the fifth servo motor. The fifth servo motor drives the boom to do pitching motion, and then start the fourth servo motor to drive the forearm to do pitching motion; Step 3: Start the three-phase asynchronous motor. The three-phase asynchronous motor drives the rotation of the waist connecting body through the transmission shaft, that is, drives the overall structure on the top of the base to rotate. Step 4: Start the third servo motor to drive the connecting wrist to perform a side swing action. Step 5: Start the second servo motor to drive the connecting wrist and the clamping unit to rotate. Then reverse the first servo motor, and the two jaws release the clamped object, and the handling operation can be completed.

[0014] The beneficial effects of the present invention are as follows: The five-degree-of-freedom handling device of the present invention adopts a modular joint structure design. The device has a compact structure and a small volume. All five degrees of freedom are driven by independent servo motors, meeting the requirements of multiple degrees of freedom during heavy-duty operations. In cooperation with the parallelogram jaw mechanism, it significantly improves the flexibility and adaptability of the system movement; each degree of freedom can be independently controlled, with good attitude control ability, suitable for complex path handling tasks, and significantly improves the system space adaptability and operation efficiency; each component of the robot adopts a lightweight design, using a micro servo motor and an arm body with a hollow structure, effectively reducing the mass of the device itself, while ensuring the structural strength and operation range, and improving the energy efficiency ratio and working space range. Description of the Drawings

[0015] Figure 1 is a schematic structural diagram of the five-degree-of-freedom handling device of the present invention; Figure 2 is a cross-sectional view of the five-degree-of-freedom handling device of the present invention; Figure 3 is a cross-sectional view of the connecting wrist in the five-degree-of-freedom handling device of the present invention; Figure 4 is a schematic structural diagram of the clamping unit in the five-degree-of-freedom handling device of the present invention.

[0016] In the figure, 1. Jaw, 1-1. Bottom plate, 1-2. Angle iron plate, 1-3. Connecting rod, 1-4. Rotating shaft, 1-5. Fixed rod, 1-6. Gear rod, 1-7. Transmission rotating shaft, 1-8. Transmission gear, 2. Fifth servo motor, 3. Connecting wrist, 3-1. Connecting plate, 3-2. Wrist shell, 3-3. Connecting head, 3-4. Second tapered roller bearing, 3-5. Connecting shaft, 3-6. Connecting shell, 3-7. First tapered roller bearing, 3-8. Third tapered roller bearing, 4. Forearm, 4-1. Joint connecting piece, 5. Upper arm, 5-1. Upper arm base, 6. Waist connecting body, 6-1. Connecting body, 6-2. Double-directional thrust ball bearing, 6-3. Upper end cover, 6-4. Tapered roller bearing, 6-5. Waist outer shell, 6-6. Lower end cover, 6-7. Connecting cylinder, 6-8. Transmission shaft, 7. Base, 8. First servo motor, 9. Second servo motor, 10. Third servo motor, 11. Fourth servo motor, 12. Three-phase asynchronous motor. Detailed implementation mode

[0017] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation modes.

[0018] The present invention provides a five-degree-of-freedom handling device, as Figure 1 shown, including a base 7. A waist connecting body 6 is connected to the top of the base 7. A fifth servo motor 2 is connected to the end of the waist connecting body 6 away from the base 7. The output shaft of the fifth servo motor 2 is connected to a large arm 5. A three-phase asynchronous motor 12 is connected inside the base 7. The output shaft of the three-phase asynchronous motor 12 is connected to a transmission shaft 6-8. The shaft body of the transmission shaft 6-8 is connected to the waist connecting body 6. The end of the large arm 5 away from the fifth servo motor 2 is connected to a small arm 4 through a fourth servo motor 11. The end of the small arm 4 away from the fourth servo motor 11 is connected to a connecting wrist 3 through a third servo motor 10. The end of the connecting wrist 3 away from the third servo motor 10 is connected to a clamping unit. The device also includes a control system, which consists of a controller, a servo valve and a sensor. Each motor is correspondingly connected with a sensor, and each sensor is correspondingly provided with a servo valve. The servo valve and the sensor are both electrically connected to the controller. The sensor senses the rotation angle of the motor and the clamping force of the gripper 1, and transmits the signal to the controller. The controller controls the action of the motor through the servo valve. The motor shaft of the three-phase asynchronous motor 12 is vertically upward, and drives the waist connecting body 6 to rotate 360° at a speed of 15 r / min through the transmission shaft 6-8. The motor shaft of the fifth servo motor 2 is horizontally arranged, and drives the large arm 5 to make a pitching motion of 0-90° relative to the waist connecting body 6 at a speed of 16 r / min. The motor shaft of the fourth servo motor 11 is horizontally arranged, and drives the small arm 4 to make a pitching motion of 0-180° relative to the large arm 5 at a speed of 16 r / min. The motor shaft of the third servo motor 10 is vertically arranged, and drives the connecting wrist 3 to make a side swing motion of 0-180° at a speed of 16 r / min.

[0019] Embodiment 1 A five-degree-of-freedom handling device, including a base 7. A waist connecting body 6 is connected to the top of the base 7. A fifth servo motor 2 is connected to the end of the waist connecting body 6 away from the base 7. The output shaft of the fifth servo motor 2 is connected to a large arm 5. A three-phase asynchronous motor 12 is connected inside the base 7. The output shaft of the three-phase asynchronous motor 12 is connected to a transmission shaft 6-8. The shaft body of the transmission shaft 6-8 is connected to the waist connecting body 6. The end of the large arm 5 away from the fifth servo motor 2 is connected to a small arm 4 through a fourth servo motor 11. The end of the small arm 4 away from the fourth servo motor 11 is connected to a connecting wrist 3 through a third servo motor 10. The end of the connecting wrist 3 away from the third servo motor 10 is connected to a clamping unit.

[0020] As Figure 2As shown in the figure, the waist connecting body 6 includes a waist outer shell 6-5. The inner wall of the waist outer shell 6-5 is connected with a connecting body 6-1 through a tapered roller bearing 6-4. The bottom of the connecting body 6-1 is connected with a base 7. The inner wall of the connecting body 6-1 is connected with a connecting cylinder 6-7 through a double-direction thrust ball bearing 6-7. The top of the connecting cylinder 6-7 is connected with the inner top surface of the waist outer shell 6-5. A transmission shaft 6-8 is connected inside the connecting cylinder 6-7. A three-phase asynchronous motor 12 drives the transmission shaft 6-8 to rotate. The transmission shaft 6-8 drives the connecting cylinder 6-7 to rotate. The connecting cylinder 6-7 drives the waist outer shell 6-5 to rotate, that is, drives the structure above the base 7 to rotate.

[0021] Upper end covers 6-3 and lower end covers 6-6 are respectively arranged at both ends of the tapered roller bearing 6-4. The upper end cover 6-3 is connected with the top of the connecting body 6-1. The lower end cover 6-6 is connected with the bottom of the waist outer shell 6-5. The upper end cover 6-3 and the lower end cover 6-6 clamp the tapered roller bearing 6-4.

[0022] Embodiment 2 A five-degree-of-freedom handling device includes a base 7. The top of the base 7 is connected with a waist connecting body 6. The end of the waist connecting body 6 far from the base 7 is connected with a fifth servo motor 2. The output shaft of the fifth servo motor 2 is connected with a large arm 5. A three-phase asynchronous motor 12 is connected inside the base 7. The output shaft of the three-phase asynchronous motor 12 is connected with a transmission shaft 6-8. The shaft body of the transmission shaft 6-8 is connected with the waist connecting body 6. The end of the large arm 5 far from the fifth servo motor 2 is connected with a small arm 4 through a fourth servo motor 11. The end of the small arm 4 far from the fourth servo motor 11 is connected with a connecting wrist 3 through a third servo motor 10. The end of the connecting wrist 3 far from the third servo motor 10 is connected with a clamping unit.

[0023] The waist connecting body 6 includes a waist outer shell 6-5. The inner wall of the waist outer shell 6-5 is connected with a connecting body 6-1 through a tapered roller bearing 6-4. The bottom of the connecting body 6-1 is connected with a base 7. The inner wall of the connecting body 6-1 is connected with a connecting cylinder 6-7 through a double-direction thrust ball bearing 6-7. The top of the connecting cylinder 6-7 is connected with the inner top surface of the waist outer shell 6-5. A transmission shaft 6-8 is connected inside the connecting cylinder 6-7.

[0024] Upper end covers 6-3 and lower end covers 6-6 are respectively arranged at both ends of the tapered roller bearing 6-4. The upper end cover 6-3 is connected with the top of the connecting body 6-1. The lower end cover 6-6 is connected with the bottom of the waist outer shell 6-5.

[0025] One end of the boom 5 is connected to a boom base 5-1. The boom base 5-1 is connected to the waist housing 6-5 and also to the fifth servo motor 2. The fifth servo motor 2 is horizontally arranged. The motor shaft of the fifth servo motor 2 is connected to the end of the boom 5 and the boom base 5-1 through a key shaft. The motor shaft of the fifth servo motor 2 is horizontally arranged and is connected to the end of the boom 5 through a key at the top of the boom base 5-1. The fifth servo motor 2 drives the boom 5 to perform a pitching motion of 0 to 90°.

[0026] Embodiment 3 A five-degree-of-freedom handling device includes a base 7. A waist connecting body 6 is connected to the top of the base 7. The end of the waist connecting body 6 far from the base 7 is connected to a fifth servo motor 2. The output shaft of the fifth servo motor 2 is connected to a boom 5. A three-phase asynchronous motor 12 is connected inside the base 7. The output shaft of the three-phase asynchronous motor 12 is connected to a transmission shaft 6-8. The shaft body of the transmission shaft 6-8 is connected to the waist connecting body 6. The end of the boom 5 far from the fifth servo motor 2 is connected to a forearm 4 through a fourth servo motor 11. The end of the forearm 4 far from the fourth servo motor 11 is connected to a connecting wrist 3 through a third servo motor 10. The end of the connecting wrist 3 far from the third servo motor 10 is connected to a clamping unit.

[0027] The waist connecting body 6 includes a waist housing 6-5. The inner wall of the waist housing 6-5 is connected to a connecting body 6-1 through a tapered roller bearing 6-4. The bottom of the connecting body 6-1 is connected to the base 7. The inner wall of the connecting body 6-1 is connected to a connecting cylinder 6-7 through a double-direction thrust ball bearing 6-7. The top of the connecting cylinder 6-7 is connected to the inner top surface of the waist housing 6-5. The transmission shaft 6-8 is connected inside the connecting cylinder 6-7.

[0028] Upper end caps 6-3 and lower end caps 6-6 are respectively provided at both ends of the tapered roller bearing 6-4. The upper end cap 6-3 is connected to the top of the connecting body 6-1, and the lower end cap 6-6 is connected to the bottom of the waist housing 6-5.

[0029] One end of the boom 5 is connected to a boom base 5-1. The boom base 5-1 is connected to the waist housing 6-5 and also to the fifth servo motor 2. The fifth servo motor 2 is horizontally arranged. The motor shaft of the fifth servo motor 2 is connected to the end of the boom 5 and the boom base 5-1 through a key shaft.

[0030] The motor shaft of the fourth servo motor 11 is connected to the end of the small arm 4 through a key shaft. The motor shaft of the third servo motor 10 is connected to a joint connecting member 4-1 through a key shaft. The end of the joint connecting member 4-1 away from the third servo motor 10 is connected to a second servo motor 9, and the motor shaft of the second servo motor 9 is connected to the connecting wrist 3. The motor shaft of the fourth servo motor 11 is also horizontally arranged, driving the small arm 4 to make a pitching motion of 0 to 180° relative to the large arm 5. The motor shaft of the third servo motor 10 is vertically arranged, driving its subsequent device to make a side-swing motion through the joint connecting member 4-1. The motor shaft of the second servo motor 9 is arranged along the length direction of the connecting wrist 3, driving the connecting wrist 3 to rotate.

[0031] Embodiment 4 A five-degree-of-freedom handling device includes a base 7. The top of the base 7 is connected to a waist connecting body 6. The end of the waist connecting body 6 away from the base 7 is connected to a fifth servo motor 2. The output shaft of the fifth servo motor 2 is connected to a large arm 5. A three-phase asynchronous motor 12 is connected inside the base 7. The output shaft of the three-phase asynchronous motor 12 is connected to a transmission shaft 6-8. The shaft body of the transmission shaft 6-8 is connected to the waist connecting body 6. The end of the large arm 5 away from the fifth servo motor 2 is connected to a small arm 4 through a fourth servo motor 11. The end of the small arm 4 away from the fourth servo motor 11 is connected to a connecting wrist 3 through a third servo motor 10. The end of the connecting wrist 3 away from the third servo motor 10 is connected to a clamping unit.

[0032] The waist connecting body 6 includes a waist outer shell 6-5. The inner wall of the waist outer shell 6-5 is connected to a connecting body 6-1 through a tapered roller bearing 6-4. The bottom of the connecting body 6-1 is connected to the base 7. The inner wall of the connecting body 6-1 is connected to a connecting cylinder 6-7 through a double-direction thrust ball bearing 6-7. The top of the connecting cylinder 6-7 is connected to the inner top surface of the waist outer shell 6-5. The transmission shaft 6-8 is connected inside the connecting cylinder 6-7.

[0033] Upper end caps 6-3 and lower end caps 6-6 are respectively provided at both ends of the tapered roller bearing 6-4. The upper end cap 6-3 is connected to the top of the connecting body 6-1, and the lower end cap 6-6 is connected to the bottom of the waist outer shell 6-5.

[0034] One end of the large arm 5 is connected to a large arm base 5-1. The large arm base 5-1 is connected to the waist outer shell 6-5 and the fifth servo motor 2. The fifth servo motor 2 is horizontally arranged, and the motor shaft of the fifth servo motor 2 is connected to the end of the large arm 5 and the large arm base 5-1 through a key shaft.

[0035] The motor shaft of the fourth servo motor 11 is connected to the end of the small arm 4 through a key shaft. The motor shaft of the third servo motor 10 is connected to a joint connecting member 4-1 through a key shaft. The end of the joint connecting member 4-1 away from the third servo motor 10 is connected to a second servo motor 9, and the motor shaft of the second servo motor 9 is connected to the connecting wrist 3.

[0036] As Figure 3 shown, the connecting wrist 3 includes a connecting housing 3-6. The connecting housing 3-6 is connected to the clamping unit. A connecting shaft 3-5 is connected inside the connecting housing 3-6. The connecting shaft 3-5 is connected to the motor shaft of the second servo motor 9. A first tapered roller bearing 3-7 is sleeved on the shaft body of the connecting shaft 3-5. The outer wall of the connecting housing 3-6 is connected to a wrist housing 3-2 through a connecting plate 3-1. The second servo motor 9 is also connected to a connecting head 3-3. The connecting shaft 3-5 passes through the connecting head 3-3 and is connected to the inner top surface of the connecting housing 3-6. A second tapered roller bearing 3-4 is provided between the connecting head 3-3 and the connecting plate 3-1. A third tapered roller bearing 3-8 is provided between the connecting head 3-3 and the connecting housing 3-6. The second servo motor 9 drives the connecting shaft 3-5 to rotate. The connecting shaft 3-5 drives the connecting housing 3-6 to rotate, and then drives the clamping unit to rotate through the connecting housing 3-6.

[0037] Embodiment 5 A five-degree-of-freedom handling device includes a base 7. A waist connecting body 6 is connected to the top of the base 7. The end of the waist connecting body 6 away from the base 7 is connected to a fifth servo motor 2. The output shaft of the fifth servo motor 2 is connected to a large arm 5. A three-phase asynchronous motor 12 is connected inside the base 7. The output shaft of the three-phase asynchronous motor 12 is connected to a transmission shaft 6-8. The shaft body of the transmission shaft 6-8 is connected to the waist connecting body 6. The end of the large arm 5 away from the fifth servo motor 2 is connected to a small arm 4 through a fourth servo motor 11. The end of the small arm 4 away from the fourth servo motor 11 is connected to a connecting wrist 3 through a third servo motor 10. The end of the connecting wrist 3 away from the third servo motor 10 is connected to a clamping unit.

[0038] The waist connecting body 6 includes a waist housing 6-5. The inner wall of the waist housing 6-5 is connected to a connecting body 6-1 through a tapered roller bearing 6-4. The bottom of the connecting body 6-1 is connected to the base 7. The inner wall of the connecting body 6-1 is connected to a connecting cylinder 6-7 through a double-direction thrust ball bearing 6-7. The top of the connecting cylinder 6-7 is connected to the inner top surface of the waist housing 6-5. The transmission shaft 6-8 is connected inside the connecting cylinder 6-7.

[0039] Upper end covers 6-3 and lower end covers 6-6 are respectively provided at both ends of the tapered roller bearing 6-4. The upper end cover 6-3 is connected to the top of the connecting body 6-1. The lower end cover 6-6 is connected to the bottom of the waist housing 6-5.

[0040] One end of the large arm 5 is connected to a large arm base 5-1. The large arm base 5-1 is connected to the waist housing 6-5. The large arm base 5-1 is connected to the fifth servo motor 2. The fifth servo motor 2 is horizontally arranged. The motor shaft of the fifth servo motor 2 is connected to the end of the large arm 5 and the large arm base 5-1 through a key shaft.

[0041] The motor shaft of the fourth servo motor 11 is connected to the end of the small arm 4 through a key shaft. The motor shaft of the third servo motor 10 is connected to a joint connecting member 4-1 through a key shaft. The end of the joint connecting member 4-1 away from the third servo motor 10 is connected to a second servo motor 9, and the motor shaft of the second servo motor 9 is connected to the connecting wrist 3.

[0042] The connecting wrist 3 includes a connecting shell 3-6. The connecting shell 3-6 is connected to the clamping unit. A connecting shaft 3-5 is connected inside the connecting shell 3-6. The connecting shaft 3-5 is connected to the motor shaft of the second servo motor 9. A first tapered roller bearing 3-7 is sleeved on the shaft body of the connecting shaft 3-5. The outer wall of the connecting shell 3-6 is connected to a wrist shell 3-2 through a connecting plate 3-1. The second servo motor 9 is also connected to a connecting head 3-3. The connecting shaft 3-5 passes through the connecting head 3-3 and is connected to the inner top surface of the connecting shell 3-6. A second tapered roller bearing 3-4 is provided between the connecting head 3-3 and the connecting plate 3-1. A third tapered roller bearing 3-8 is provided between the connecting head 3-3 and the connecting shell 3-6.

[0043] As Figure 4 shown, the clamping unit includes a bottom plate 1-1. Angle iron plates 1-2 with an "L" shape are connected to both sides of the bottom plate 1-1. Both angle iron plates 1-2 are connected to the connecting shell 3-6. A first servo motor 8 is connected to one side plate of the bottom plate 1-1. The motor shaft of the first servo motor 8 passes through the bottom plate 1-1 and is connected to a clamping assembly. One side of the angle iron plate 1-2 with an "L" shape is connected to the bottom plate 1-1, and the other side is connected to the connecting shell 3-6. The motor shaft of the first servo motor 8 is perpendicular to the bottom plate 1-1, and the first servo motor 8 drives the clamping assembly to rotate.

[0044] The clamping assembly includes a transmission rotating shaft 1-7, which is connected to the motor shaft of the first servo motor 8. A transmission gear 1-8 is sleeved on the shaft body of the transmission rotating shaft 1-7. Two parallel rotating shafts 1-4 are also penetrated through the plate surface of the bottom plate 1-1. One end of each rotating shaft 1-4 is sleeved with a gear rod 1-6. One side of the bottom plate 1-1 opposite to the gear rod 1-6 is connected with a connecting rod 1-3 through a thrust ball bearing. The two gear rods 1-6 mesh with each other, and the transmission gear 1-8 meshes with one of the gear rods 1-6. Two fixing rods 1-5 are hinged on both side plate surfaces of the bottom plate 1-1. Claw jaws 1 are arranged on both opposite sides of the bottom plate 1-1. The ends of the fixing rods 1-5, the connecting rod 1-3 and the gear rod 1-6 are all hinged to the claw jaws 1. Four fixing rods 1-5 are provided. Each fixing rod 1-5, gear rod 1-6 and connecting rod 1-3 are set at a certain angle, ensuring that the first servo motor 8 drives the transmission rotating shaft 1-7 to rotate, drives the transmission gear 1-8 to rotate, the transmission gear 1-8 drives the gear of one of the gear rods 1-6 to rotate, and the gear of the other gear rod 1-6 rotates accordingly, so as to drive the claw jaws 1 to approach or depart from each other. The four fixing rods 1-5 play a stabilizing role on the claw jaws 1. The clamping assembly further includes a housing, and the housing is also connected to the connecting shell 3-6. The bottom plate 1-1 and its connecting components are all arranged inside the housing.

[0045] Embodiment 6 The handling method of the five-degree-of-freedom handling device is specifically implemented according to the following steps: Step 1: Control the first servo motor 8 to start, drive the transmission rotating shaft 1-7 to rotate, and then through the transmission of the transmission gear 1-8 and the gear rod 1-6, the two claw jaws 1 can be driven to depart from or approach each other to complete the clamping action; Step 2: Start the fifth servo motor 2. The fifth servo motor 2 drives the boom 5 to make a pitching motion, and then start the fourth servo motor 11 to drive the forearm 4 to make a pitching motion; Step 3: Start the three-phase asynchronous motor 12. The three-phase asynchronous motor 12 drives the rotation of the waist connecting body 6 through the transmission shaft 6-8, that is, drives the overall structure on the top of the base 7 to rotate; Step 4: Start the third servo motor 10 to drive the connecting wrist 3 to make a side-swinging motion; Step 5: Start the second servo motor 9 to drive the connecting wrist 3 and the clamping unit to rotate, and then reverse the first servo motor 8. The two claw jaws 1 release the clamped object, and the handling operation can be completed.

[0046] The working principle of the five-degree-of-freedom handling device of the present invention is as follows: The first servo motor 8 drives the transmission rotating shaft 1-7 to rotate, drives the transmission gear 1-8 to rotate, the transmission gear 1-8 drives the gear of one of the gear rods 1-6 to rotate, and the gear of the other gear rod 1-6 rotates accordingly, so as to drive the gripper 1 to approach and complete the clamping of the item. According to the actual operation conditions, the three-phase asynchronous motor 12 drives the transmission shaft 6-8 to rotate, the transmission shaft 6-8 drives the connecting cylinder 6-7 to rotate, the connecting cylinder 6-7 drives the waist housing 6-5 to rotate, the fifth servo motor 2 drives the boom 5 to move, the fourth servo motor 11 drives the forearm 4 to make a pitching motion, the third servo motor 10 drives its subsequent device to make a side-swing motion through the joint connector 4-1, the second servo motor 9 drives the connecting shaft 3-5 to rotate, and the connecting shaft 3-5 drives the connecting shell 3-6 to rotate, so as to drive the clamped item to move. When the item rotates to the corresponding position, reverse the first servo motor 8, and the two grippers 1 release the item to complete the handling operation.

[0047] The five-degree-of-freedom handling device of the present invention adopts a modular joint structure design. The device has a compact structure and a small volume. The five degrees of freedom are all driven by independent servo motors, meeting the requirements of multiple degrees of freedom during heavy-duty operations. In cooperation with the parallelogram gripper mechanism, the flexibility and adaptability of the system motion are significantly improved; each degree of freedom can be independently controlled, with good attitude control ability, suitable for complex path handling tasks, and the system space adaptability and operation efficiency are significantly improved.

Claims

1. Five-degree-of-freedom handling device, characterized in that, It includes a base (7). A waist connecting body (6) is connected to the top of the base (7). The end of the waist connecting body (6) away from the base (7) is connected to a fifth servo motor (2). The output shaft of the fifth servo motor (2) is connected to a large arm (5). A three-phase asynchronous motor (12) is connected inside the base (7). The output shaft of the three-phase asynchronous motor (12) is connected to a transmission shaft (6-8). The shaft body of the transmission shaft (6-8) is connected to the waist connecting body (6). The end of the large arm (5) away from the fifth servo motor (2) is connected to a small arm (4) through a fourth servo motor (11). The end of the small arm (4) away from the fourth servo motor (11) is connected to a connecting wrist (3) through a third servo motor (10). The end of the connecting wrist (3) away from the third servo motor (10) is connected to a clamping unit.

2. The five-degree-of-freedom handling device according to claim 1, characterized in that, The waist connecting body (6) includes a waist outer shell (6-5). The inner wall of the waist outer shell (6-5) is connected to a connecting body (6-1) through a tapered roller bearing (6-4). The bottom of the connecting body (6-1) is connected to the base (7). The inner wall of the connecting body (6-1) is connected to a connecting cylinder (6-7) through a double-direction thrust ball bearing (6-2). The top of the connecting cylinder (6-7) is connected to the inner top surface of the waist outer shell (6-5). The transmission shaft (6-8) is connected inside the connecting cylinder (6-7).

3. The five-degree-of-freedom handling device according to claim 2, characterized in that, Upper end covers (6-3) and lower end covers (6-6) are respectively provided at both ends of the tapered roller bearing (6-4). The upper end cover (6-3) is connected to the top of the connecting body (6-1). The lower end cover (6-6) is connected to the bottom of the waist outer shell (6-5).

4. The five-degree-of-freedom handling device according to claim 1, wherein, One end of the large arm (5) is connected to a large arm base (5-1). The large arm base (5-1) is connected to the waist outer shell (6-5). The large arm base (5-1) is connected to the fifth servo motor (2). The fifth servo motor (2) is horizontally arranged. The motor shaft of the fifth servo motor (2) is connected to the end of the large arm (5) and the large arm base (5-1) through a key shaft.

5. The five-degree-of-freedom handling device according to claim 1, characterized in that The motor shaft of the fourth servo motor (11) is connected to the end of the small arm (4) through a key shaft. The motor shaft of the third servo motor (10) is connected to a joint connecting member (4-1) through a key shaft. The end of the joint connecting member (4-1) away from the third servo motor (10) is connected to a second servo motor (9). The motor shaft of the second servo motor (9) is connected to the connecting wrist (3).

6. The five-degree-of-freedom handling device according to claim 5, wherein, The connecting wrist (3) includes a connecting shell (3-6), the connecting shell (3-6) is connected to the clamping unit, a connecting shaft (3-5) is connected inside the connecting shell (3-6), the connecting shaft (3-5) is connected to the motor shaft of the second servo motor (9), a first tapered roller bearing (3-7) is sleeved on the shaft body of the connecting shaft (3-5), the outer wall of the connecting shell (3-6) is connected to a wrist shell (3-2) through a connecting plate (3-1), the second servo motor (9) is further connected to a connecting head (3-3), the connecting shaft (3-5) passes through the connecting head (3-3) and is connected to the inner top surface of the connecting shell (3-6), a second tapered roller bearing (3-4) is provided between the connecting head (3-3) and the connecting plate (3-1), and a third tapered roller bearing (3-8) is provided between the connecting head (3-3) and the connecting shell (3-6).

7. The five-degree-of-freedom handling device according to claim 6, characterized in that, The clamping unit includes a bottom plate (1-1), "L"-shaped angle iron plates (1-2) are connected to both sides of the bottom plate (1-1), both of the two angle iron plates (1-2) are connected to the connecting shell (3-6), a first servo motor (8) is connected to one side plate surface of the bottom plate (1-1), and the motor shaft of the first servo motor (8) passes through the bottom plate (1-1) and is connected to a clamping assembly.

8. The five-degree-of-freedom handling device according to claim 7, characterized in that The clamping assembly includes a transmission rotating shaft (1-7), the transmission rotating shaft (1-7) is connected to the motor shaft of the first servo motor (8), a transmission gear (1-8) is sleeved on the shaft body of the transmission rotating shaft (1-7), two parallel rotating shafts (1-4) are also penetrated through the plate surface of the bottom plate (1-1), a gear rod (1-6) is sleeved on one end of the rotating shaft (1-4), a connecting rod (1-3) is connected to the side of the bottom plate (1-1) opposite to the gear rod (1-6) through a thrust ball bearing, the two gear rods (1-6) are meshed with each other, the transmission gear (1-8) is meshed with one of the gear rods (1-6), two fixing rods (1-5) are hinged to both side plate surfaces of the bottom plate (1-1), clamping jaws (1) are arranged on both opposite sides of the bottom plate (1-1), and the ends of the fixing rod (1-5), the connecting rod (1-3) and the gear rod (1-6) are all hinged to the clamping jaws (1).

9. The handling method of the five-degree-of-freedom handling device according to any one of claims 1-8, characterized in that, Specifically, it is implemented according to the following steps: Step 1: Control the first servo motor (8) to start, drive the transmission rotating shaft (1-7) to rotate, and then drive the two clamping jaws (1) to move away from or close to each other through the transmission of the transmission gear (1-8) and the gear rod (1-6) to complete the clamping action; Step 2: Start the fifth servo motor (2), the fifth servo motor (2) drives the big arm (5) to perform a pitching motion, and then start the fourth servo motor (11) to drive the small arm (4) to perform a pitching motion; Step 3: Start the three-phase asynchronous motor (12), and the three-phase asynchronous motor (12) drives the rotation of the waist connecting body (6) through the transmission shaft (6-8), that is, drives the overall structure on the top of the base (7) to rotate; Step 4: Start the third servo motor (10) to drive the connecting wrist (3) to perform a side swing action; Step 5: Start the second servo motor (9) to drive the connecting wrist (3) and the clamping unit to rotate, and then reverse the first servo motor (8) so that the two jaws (1) release the clamped object, thus completing the handling operation.

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