Five-axis transverse moving horizontal joint manipulator

Abstract

The utility model discloses a five-axis transverse moving horizontal joint manipulator which comprises a machine base. The clamping assembly comprises a clamping seat, a first clamping arm, a second clamping arm and a clamping jig; the clamping base can move in the vertical axis direction and the horizontal axis direction, one end of the first clamping arm is rotationally installed on the clamping base through a first rotating shaft, the other end of the first clamping arm is rotationally connected with one end of the second clamping arm through a second rotating shaft, and the other end of the second clamping arm is rotationally connected with a connector. The clamping jig is detachably connected with the connector; the first rotating shaft and the second rotating shaft rotate around the vertical shaft; the driving assembly comprises a first driving part, a second driving part and a third driving part. The clamping base, the first clamping arm and the second clamping arm are matched with the connector to achieve horizontal movement, vertical movement and multi-angle rotation driving of the clamping jig in the horizontal direction.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a five-axis lateral movement horizontal joint manipulator. Background Art

[0002] At present, the robot is generally used to clamp the workpiece during the machining process. After the workpiece is clamped by the fixture on the robot, it drives the workpiece to move up and down, left and right, and front and back, so as to realize the transfer of the workpiece in different stations of the production line. However, the existing robot usually drives the fixture on the robot to move in different directions with a linear motion output mechanism. Since the movement combination in different directions is performed by linear motion, the transfer range is limited and the transfer process is not flexible enough. Utility Model Content

[0003] In order to overcome the shortcomings of the prior art, the purpose of the utility model is to provide a five-axis lateral movement horizontal joint manipulator, which can be a clamping seat, a first clamping arm and a second clamping arm in conjunction with a connecting head to achieve horizontal movement, vertical movement and multi-angle rotation drive of the clamping fixture in the horizontal direction.

[0004] The purpose of the utility model is achieved by the following technical solutions:

[0005] Five-axis traverse horizontal joint robot, including:

[0006] Machine base;

[0007] A clamping assembly, comprising a clamping seat, a first clamping arm, a second clamping arm and a clamping fixture, wherein the clamping seat is mounted on the machine base; the clamping seat can move along the vertical axis direction and the horizontal axis direction; the first clamping arm and the second clamping arm are both arranged horizontally, one end of the first clamping arm is rotatably mounted on the clamping seat by a first rotating shaft, the other end of the first clamping arm is rotatably connected to one end of the second clamping arm by a second rotating shaft, the other end of the second clamping arm is rotatably connected to a connecting head, and the clamping fixture is detachably connected to the connecting head; the first rotating shaft and the second rotating shaft both rotate around the vertical axis;

[0008] The driving assembly includes a first driving member, a second driving member and a third driving member. The first driving member is used to drive the clamping seat to move along the vertical axis direction and the horizontal axis direction; the second driving member is used to drive the first rotating shaft to rotate; and the third driving member is used to drive the second rotating shaft to rotate.

[0009] Further, the first driving member includes a first motor, a second motor, a first gear, a first rack, a second gear and a second rack; a moving seat is provided on the machine base, the first motor is mounted on the moving seat, a rotating shaft of the first motor is connected to the first gear, the first rack is mounted on the machine base and extends along the horizontal axis; the first gear is meshed with the first rack;

[0010] The second rack is installed on the moving seat, the second motor is installed on the clamping seat, and the second gear is connected to the rotating shaft of the second motor and meshes with the second rack.

[0011] Further, the machine base is provided with a first slide rail, and the first slide rail extends along the horizontal axis direction; the movable base is provided with a first slider, and the first slider is slidably matched with the first slide rail;

[0012] The movable seat is provided with a second slide rail, and the second slide rail extends along the vertical axis direction; the clamping seat is provided with a second sliding block; and the second sliding block is slidably matched with the second slide rail.

[0013] Furthermore, the top end of the clamping seat is connected to a first accordion protective cover, and the first accordion protective cover is connected to the top end of the moving seat; the bottom end of the clamping seat is connected to a second accordion protective cover, and the second accordion protective cover is connected to the bottom end of the moving seat.

[0014] Furthermore, the second driving member includes a third motor and a first reduction mechanism, the third motor is mounted on the first clamping arm, and the rotating shaft of the third motor is connected to the first rotating shaft through the first reduction mechanism.

[0015] Furthermore, the third driving member includes a fourth motor and a second reduction mechanism, the fourth motor is mounted on the first clamping arm, and the rotating shaft of the fourth motor is connected to the second rotating shaft through the second reduction mechanism.

[0016] Furthermore, the connecting head is rotatably connected to the end of the second clamping arm via a third rotating shaft, and a fourth driving member is provided on the second clamping arm, and the fourth driving member is used to drive the third rotating shaft to rotate.

[0017] Furthermore, the fourth driving member includes a fifth motor and a third reduction mechanism, the fifth motor is mounted on the second clamping arm, and the rotating shaft of the fifth motor is connected to the third rotating shaft through the third reduction mechanism.

[0018] Furthermore, the clamping fixture includes a clamping frame and a plurality of vacuum suction cups, the clamping frame is connected to the connecting head, the clamping frame is provided with a plurality of vacuum suction cups, and the clamping frame is provided with a plurality of vacuum suction cups at intervals in the width direction and the length direction.

[0019] Furthermore, the connecting head is provided with a connecting block, and the connecting block is provided with an inserting hole; the clamping frame is provided with a connecting rod, and the connecting rod is inserted into the inserting hole.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. The first clamping arm rotates around the first rotation axis. At this time, the clamping fixture can rotate around the first rotation axis. The rotation radius is formed by the superposition of the first clamping arm and the second clamping arm, and has a larger rotation range. The second clamping arm rotates around the second rotation axis, and the clamping fixture can rotate relative to the first clamping arm. At this time, the rotation radius is the length of the second clamping arm, and a small range of rotation is achieved. When the connector rotates around its own axis, the clamping fixture can rotate by itself. In this way, the clamping fixture can adjust its own rotation angle to adjust the angle of the workpiece. In this way, the clamping fixture in this embodiment can rotate in a large or small range to transfer workpieces to different workstations, and the clamping fixture rotates by itself, so that the pick-up and placement angle of the workpiece can be adjusted.

[0022] 2. Since the clamping seat as a whole can move up and down under the drive of the first driving member, the clamping fixture can also move up and down accordingly to realize the picking and placing of the workpiece. In addition, the clamping seat as a whole can also move along the horizontal axis under the drive of the first driving member, that is, it can move horizontally to move the clamping assembly as a whole from the previous station to the next station. If the clamping assembly only drives the clamping fixture to move over a large range by swinging the first clamping arm and the second clamping arm in the horizontal direction, the range of the clamping fixture is limited when transferring the workpiece. Therefore, it can be further possible to move the clamping seat as a whole horizontally by one station, and cooperate with the swinging movement of the first clamping arm and the second clamping arm, so that the horizontal movement range of the clamping fixture is larger, and the workpiece transfer distance achieved is larger. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the utility model;

[0024] Figure 2 It is a structural schematic diagram of the clamping assembly and the driving assembly of the utility model;

[0025] Figure 3 It is a schematic diagram of the partial assembly structure of the clamping seat, the first driving member and the moving seat of the utility model;

[0026] Figure 4It is a structural schematic diagram of the clamping fixture of the utility model.

[0027] In the figure: 10, machine base; 11, moving base; 111, first slider; 112, second slide rail; 12, first slide rail; 21, clamping base; 211, first accordion protective cover; 212, second accordion protective cover; 213, second slider; 22, first clamping arm; 23, second clamping arm; 24, clamping fixture; 241, clamping frame; 242, vacuum suction cup; 243, connecting rod; 25, connecting head; 251, connecting block; 31, first motor; 312, first rack; 313, second motor; 314, second rack; 32, third motor; 321, first reduction mechanism; 33, fourth motor; 331, second reduction mechanism; 34, fourth driving member. DETAILED DESCRIPTION

[0028] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described:

[0029] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0031] like Figure 1-Figure 4 The five-axis lateral translation horizontal joint manipulator shown includes a base 10, a gripping assembly and a driving assembly. Both the gripping assembly and the driving assembly can be installed based on the base 10.

[0032] Specifically, the clamping assembly includes a clamping seat 21, a first clamping arm 22, a second clamping arm 23 and a clamping fixture 24. The clamping seat 21 is installed on the machine base 10, and the clamping seat 21 can move along the vertical axis direction and the horizontal axis direction, that is, the clamping seat 21 can move up and down, and can also move in the horizontal direction. The first clamping arm 22 and the second clamping arm 23 are both arranged horizontally, and one end of the first clamping arm 22 is rotatably installed on the clamping seat with a first rotating shaft, the other end of the first clamping arm 22 is rotatably connected to one end of the second clamping arm 23 through the second rotating shaft, and the other end of the second clamping arm 23 is rotatably connected to a connector 25, and the clamping fixture 24 is detachably connected to the connector 25; the first rotating shaft and the second rotating shaft both rotate around the vertical axis; in this way, the first clamping arm 22 and the second clamping arm 23 can swing around the vertical axis in the horizontal direction to realize the clamping and transfer of the workpiece.

[0033] The driving assembly includes a first driving member, a second driving member and a third driving member. The first driving member can drive the clamping seat 21 to move along the vertical axis direction and the horizontal axis direction, while the second driving member can drive the first rotating shaft to rotate, and the third driving member drives the second rotating shaft to rotate.

[0034] On the basis of the above structure, when the five-axis lateral translation horizontal joint manipulator of the utility model is used, the five-axis lateral translation horizontal joint manipulator can be applied to equipment that requires workpiece transfer, such as a workpiece production line or an assembly production line.

[0035] When in use, the clamping fixture 24 can be assembled to the connecting head 25 of the second clamping arm 23, the second clamping arm 23 can rotate relative to the first clamping arm 22, the first clamping arm 22 can rotate relative to the clamping seat 21, and the connecting head 25 used to connect the clamping fixture 24 can also rotate relative to the second clamping arm 23, that is, the clamping fixture 24 has three-axis rotational freedom, the first rotational freedom with the first rotation axis as the rotation axis, the second rotational freedom with the second rotation axis as the rotational chord, and the third rotational freedom with the central axis of the connecting head 25 as the rotation axis.

[0036] Specifically, the first clamping arm 22 can be rotated around the first rotation axis. At this time, the clamping fixture 24 can be rotated around the first rotation axis. The rotation radius is formed by the superposition of the first clamping arm 22 and the second clamping arm 23, and has a larger rotation range. The second clamping arm 23 rotates around the second rotation axis, and the clamping fixture 24 can rotate relative to the first clamping arm 22. At this time, the rotation radius is the length of the second clamping arm 23, and a small range of rotation is achieved. When the connector 25 rotates around its own axis, the clamping fixture 24 can rotate by itself. In this way, the clamping fixture 24 can adjust its own rotation angle to adjust the angle of the workpiece. In this way, the clamping fixture 24 in this embodiment can rotate in a large or small range to transfer workpieces at different workstations, and the clamping fixture 24 rotates by itself, so that the pick-up and placement angle of the workpiece can be adjusted.

[0037] Of course, since the clamping seat 21 as a whole can move up and down under the drive of the first driving member, the clamping fixture 24 can move up and down accordingly, so as to realize the picking and placing of the workpiece. It should also be noted that the clamping seat 21 as a whole can also move along the horizontal axis under the drive of the first driving member, that is, it can be horizontally shifted to move the clamping assembly as a whole from the previous station to the next station. If the clamping assembly only drives the clamping fixture 24 to move over a large range through the horizontal swing of the first clamping arm 22 and the second clamping arm 23, the clamping fixture 24 has a limited range when transferring the workpiece. Therefore, it can be further possible to horizontally shift the clamping seat 21 as a whole by one station, cooperate with the swinging movement of the first clamping arm 22 and the second clamping arm 23, so that the horizontal movement range of the clamping fixture 24 is larger, and the workpiece transfer distance achieved is larger.

[0038] Furthermore, the first driving member includes a first motor 31, a second motor 313, a first gear, a first rack 312, a second gear and a second rack 314. A movable seat 11 is provided on the machine base 10. The movable seat 11 can move relative to the machine base 10 along the horizontal axis. The first motor 31 is mounted on the movable seat 11, and the rotating shaft of the first motor 31 is connected to the first gear. The first rack 312 is mounted on the machine base 10 and extends along the horizontal axis. The first gear is meshed with the first rack 312. In addition, the second rack 314 is mounted on the movable seat 11, the second motor 313 is mounted on the clamping seat 21, and the second gear is connected to the rotating shaft of the second motor 313 and meshed with the second rack 314.

[0039] On the basis of the above structure, when driving the clamping seat 21 to move up and down, the second motor 313 can be started, and the rotating shaft of the second motor 313 can drive the second gear to rotate, and the second gear can rotate to mesh with the second rack 314. Since the second rack 314 is relatively fixed to the moving seat 11, the second gear can rotate to move up and down along the second rack 314 meshed therewith, thereby driving the clamping seat 21 on which the second gear and the second motor 313 are installed to move up and down. When the clamping seat 21 moves horizontally left and right, the first motor 31 is started, and the rotating shaft of the first motor 31 can drive the first gear to rotate, and the first gear can rotate to mesh with the first rack 312. Since the first rack 312 is fixed relative to the machine base 10, the first gear can rotate to move horizontally left and right along the first rack 312 meshed therewith, thereby realizing the overall movement of the moving seat 11, so that the clamping seat 21 installed on the moving seat 11 can move horizontally.

[0040] In this embodiment, the first driving member realizes the up-down and left-right lateral movement of the clamping seat 21 by meshing transmission of the gear and the rack, and the control stroke accuracy is higher.

[0041] Furthermore, a first slide rail 12 may be provided on the machine base 10, and the first slide rail 12 extends along the horizontal axis direction; a first slider 111 is provided on the movable seat 11, and the first slider 111 slides in cooperation with the first slide rail 12. Thus, when the movable seat 11 moves laterally left and right, it can be guided by the sliding cooperation between the first slider 111 and the first slide rail 12, so that the overall left and right lateral movement of the clamping assembly is more stable.

[0042] Similarly, the moving seat 11 is provided with a second slide rail 112, which extends along the vertical axis direction; the clamping seat 21 is provided with a second slider 213; the second slider 213 is slidably matched with the second slide rail 112. In this way, when the clamping seat 21 moves up and down, it can be guided by the sliding match between the second slider 213 and the second slide rail 112, so that the clamping assembly as a whole moves up and down more stably.

[0043] Furthermore, the top of the clamping seat 21 is connected to a first accordion protective cover 211, which is connected to the top of the moving seat 11; the bottom of the clamping seat 21 is connected to a second accordion protective cover 212, which is connected to the bottom of the moving seat 11. In this way, when the clamping seat 21 moves up and down, the first accordion protective cover 211 and the second accordion protective cover 212 can be stretched or folded and compressed accordingly, and the first accordion protective cover 211 and the second accordion protective cover 212 can protect the internal structures such as the second rack 314 and the gear installed inside the moving seat 11 from water and dust.

[0044] Furthermore, the second driving member includes a third motor 32 and a first reduction mechanism, the third motor 32 is mounted on the first clamping arm 22, and the rotating shaft of the third motor 32 is connected to the first rotating shaft through the first reduction mechanism 321. In this way, the rotating shaft of the third motor 32 can be transmitted to the first rotating shaft through the first reduction mechanism 321, so that the rotation speed of the first clamping arm 22 is more stable.

[0045] Similarly, the third driving member includes a fourth motor 33 and a second reduction mechanism 331. The fourth motor 33 is mounted on the first clamping arm 22, and the rotating shaft of the fourth motor 33 is connected to the second rotating shaft through the second reduction mechanism 331. In this way, the rotating shaft of the fourth motor 33 can be transmitted to the second rotating shaft through the second reduction mechanism 331, so that the rotation speed of the second clamping arm 23 is more stable.

[0046] More specifically, the connector 25 is rotatably connected to the end of the second clamping arm 23 via the third rotating shaft, and the second clamping arm 23 is provided with a fourth driving member 34, which can drive the third rotating shaft to rotate. In this way, the rotational movement of the connector 25 can be driven by the fourth driving member 34 to drive the third rotating shaft to rotate, and the rotation of the third rotating shaft can drive the connector 25 connected thereto to rotate, thereby driving the clamping fixture 24 installed on the connector 25 to rotate.

[0047] Furthermore, the fourth driving member 34 includes a fifth motor and a third reduction mechanism, the fifth motor is mounted on the second clamping arm 23, and the shaft of the fifth motor is connected to the third rotating shaft through the third reduction mechanism. In this way, the shaft of the fifth motor can be transmitted to the third rotating shaft through the third reduction mechanism, so that the rotation speed of the connector 25 is more stable.

[0048] It should be noted that the first reduction mechanism 321, the second reduction mechanism 331 and the third reduction mechanism in this embodiment can all be selected as harmonic reducers in the prior art.

[0049] In other cases, the first reduction mechanism 321, the second reduction mechanism 331 and the third reduction mechanism may also be implemented by other reduction structures such as gear reduction boxes in the prior art.

[0050] Furthermore, the clamping fixture 24 in this embodiment includes a clamping frame 241 and a plurality of vacuum suction cups 242. The clamping frame 241 is connected to the connector 25. The clamping frame 241 is provided with a plurality of vacuum suction cups 242. The width direction and the length direction of the clamping frame 241 are spaced apart with a plurality of vacuum suction cups 242. In this way, when clamping a workpiece, the workpiece can be clamped by a plurality of vacuum suction cups 242. Specifically, the plurality of vacuum suction cups 242 are distributed in the length direction and the width direction of the clamping frame 241. In this way, when clamping the same workpiece, different vacuum suction cups 242 distributed at different positions of the clamping frame 241 can be used to clamp at different positions of the workpiece, so as to achieve multi-point adsorption of the workpiece. When the workpiece is large, it is more stable and less likely to fall. In the case of a small workpiece, the different vacuum suction cups 242 distributed at different positions of the workpiece clamping frame 241 can clamp multiple workpieces at different positions at the same time, and perform suction and clamping of multiple workpieces at one time, thereby improving the clamping efficiency.

[0051] Of course, the above-mentioned clamping fixture 24 can be implemented by other clamps such as pneumatic fingers, clamps, etc. in the prior art.

[0052] Furthermore, in order to facilitate the connection between the connector 25 and the clamping fixture 24, a connecting block 251 may be provided on the connector 25, and an insertion hole may be provided on the connecting block 251, so that a connecting rod 243 is provided on the clamping frame 241. During assembly, the connecting rod 243 on the clamping frame 241 is inserted into the insertion hole to achieve insertion assembly and convenient disassembly. Of course, it is also possible to provide a connecting flange on the connector 25, and to provide bolts or screws on the clamping fixture 24 to connect to the connecting hole of the connecting flange to achieve disassembly. In addition, the above-mentioned connector 25 and the clamping fixture 24 can also be detachable by directly assembling by using a spiral connector 25 in a threaded connection manner.

[0053] Since the clamping fixture 24 and the connecting head 25 are detachably assembled, different clamping fixtures 24 can be rotated for assembly according to the actual workpiece to be clamped.

[0054] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the protection scope of the claims of the utility model.

Claims

1. Five-axis horizontal joint manipulator, characterized in that: include, Machine base; A clamping assembly, comprising a clamping seat, a first clamping arm, a second clamping arm and a clamping fixture, wherein the clamping seat is mounted on the machine base; the clamping seat can move along the vertical axis direction and the horizontal axis direction; the first clamping arm and the second clamping arm are both arranged horizontally, one end of the first clamping arm is rotatably mounted on the clamping seat by a first rotating shaft, the other end of the first clamping arm is rotatably connected to one end of the second clamping arm by a second rotating shaft, the other end of the second clamping arm is rotatably connected to a connecting head, and the clamping fixture is detachably connected to the connecting head; the first rotating shaft and the second rotating shaft both rotate around the vertical axis; The driving assembly includes a first driving member, a second driving member and a third driving member. The first driving member is used to drive the clamping seat to move along the vertical axis direction and the horizontal axis direction; the second driving member is used to drive the first rotating shaft to rotate; and the third driving member is used to drive the second rotating shaft to rotate.

2. The five-axis horizontal joint manipulator according to claim 1 is characterized in that: The first driving member includes a first motor, a second motor, a first gear, a first rack, a second gear and a second rack. The base is provided with a moving base. The first motor is mounted on the moving base. The rotating shaft of the first motor is connected to the first gear. The first rack is mounted on the base and extends along the horizontal axis. The first gear is meshed with the first rack. The second rack is installed on the moving seat, the second motor is installed on the clamping seat, and the second gear is connected to the rotating shaft of the second motor and meshes with the second rack.

3. The five-axis horizontal joint manipulator according to claim 2 is characterized in that: The machine base is provided with a first slide rail, and the first slide rail extends along the horizontal axis direction; the movable base is provided with a first slider, and the first slider is slidably matched with the first slide rail; The movable seat is provided with a second slide rail, and the second slide rail extends along the vertical axis direction; the clamping seat is provided with a second sliding block; and the second sliding block is slidably matched with the second slide rail.

4. The five-axis horizontal joint manipulator according to claim 2 is characterized in that: The top end of the clamping seat is connected to a first accordion protective cover, which is connected to the top end of the moving seat; the bottom end of the clamping seat is connected to a second accordion protective cover, which is connected to the bottom end of the moving seat.

5. The five-axis lateral translation horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The second driving member includes a third motor and a first reduction mechanism. The third motor is mounted on the first clamping arm. The rotating shaft of the third motor is connected to the first rotating shaft through the first reduction mechanism.

6. The five-axis lateral translation horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The third driving member includes a fourth motor and a second reduction mechanism. The fourth motor is mounted on the first clamping arm. The rotating shaft of the fourth motor is connected to the second rotating shaft through the second reduction mechanism.

7. The five-axis lateral translation horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The connecting head is rotatably connected to the end of the second clamping arm via a third rotating shaft. The second clamping arm is provided with a fourth driving member, and the fourth driving member is used to drive the third rotating shaft to rotate.

8. The five-axis lateral translation horizontal joint manipulator according to claim 7 is characterized in that: The fourth driving member includes a fifth motor and a third reduction mechanism. The fifth motor is mounted on the second clamping arm. The rotating shaft of the fifth motor is connected to the third rotating shaft through the third reduction mechanism.

9. The five-axis lateral translation horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The clamping fixture comprises a clamping frame and a plurality of vacuum suction cups. The clamping frame is connected to the connecting head. The clamping frame is provided with a plurality of vacuum suction cups. The plurality of vacuum suction cups are spaced apart in the width direction and the length direction of the clamping frame.

10. The five-axis lateral translation horizontal joint manipulator according to claim 9, characterized in that: The connecting head is provided with a connecting block, and the connecting block is provided with an inserting hole; the clamping frame is provided with a connecting rod, and the connecting rod is inserted into the inserting hole.

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