Five-axis servo manipulator

Abstract

The utility model discloses a five-axis servo manipulator which comprises a main cross beam arranged on a mounting base, and the main cross beam is connected with a main driving mechanism, a control case and an auxiliary cross beam in a sliding mode. An auxiliary cross beam sliding rail is arranged on one side face of the auxiliary cross beam in the longitudinal direction, two first sliding block assemblies are arranged on the auxiliary cross beam sliding rail at intervals, one side of each first sliding block assembly is connected with an auxiliary cross beam driving motor, and the other side of each first sliding block assembly is connected with the side face, facing the auxiliary cross beam, of the first arm part; the inner surface of the side face, connected with the first sliding block assembly in a sliding mode, of each first arm is connected with a second arm in a sliding mode, and a synchronous assembly is connected between each second arm and the corresponding first arm. A belt speed multiplication mechanism is fixedly arranged on the other side face, deviating from the main cross beam, of each first arm part; each first sliding block assembly is fixedly provided with an arm driving motor, and the driving end of each arm driving motor is connected to the belt speed multiplication mechanism. The mechanical structure is more stable, the shaking amplitude of the arm is reduced, and the precision is high when the arm moves, positions and takes and places products.

Description

Technical Field

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

[0002] With the development of computer and automation technology, manipulators are widely used in industrial production to replace manual operation. Manipulators can imitate certain movements and functions of human hands and arms, and are automatic operating devices used to grasp, move objects or operate tools according to fixed procedures.

[0003] The robot arm is divided into a single-section robot arm and a double-section robot arm according to the arm structure. The difference between the single-section robot arm and the double-section robot arm lies in the upper and lower arms. Assuming that the up and down stroke of the single-section robot arm is 2M, then its height is 2M, while the double-section robot arm uses the principle of the belt's double-speed structure. When the stroke of the upper and lower arms of the robot arm remains unchanged, the height can be reduced to M. The double-section robot arm has a faster up and down speed and is also suitable for installation in lower workshops. However, since the two arms of the double-section robot arm are not fixedly connected and the up and down speed is faster, the double-section robot arm is prone to arm jitter during the up and down operation of picking up and placing parts, thereby affecting the accuracy of the robot arm in picking up and placing parts. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a five-axis servo manipulator with a more stable mechanical structure, reduced arm shaking, and high accuracy when the arm moves and positions to pick up and place products.

[0005] The technical solution of the utility model is:

[0006] A five-axis servo manipulator comprises a main beam arranged in a horizontal direction on a mounting base, the main beam being slidably connected with a main driving mechanism, a control box and a secondary beam arranged in a horizontal direction in a driving direction; the length direction of the secondary beam is perpendicular to the main beam, and the secondary beam can slide on the main beam along the length direction of the main beam; a secondary beam slide rail is arranged on a vertical side surface of the secondary beam along the length direction of the secondary beam, and two first slider assemblies are slidably connected to the secondary beam slide rail at intervals, one side of each of the first slider assemblies is connected to a secondary beam driving motor with a longitudinal driving direction, the other side of each of the first slider assemblies is slidably connected to an outer surface of a first arm facing a side surface of the secondary beam, each of the first arm is slidably connected to a second arm in a vertical direction on an inner surface of a side surface slidably connected to the first slider assembly, and a synchronization assembly is connected between each of the second arm and the first arm; a belt speed-multiplying mechanism is fixedly arranged on the other side surface of each first arm away from the main beam; an arm driving motor with a vertical driving direction is fixedly arranged on each of the first slider assemblies, and a driving end of each of the arm driving motors is connected to the belt speed-multiplying mechanism.

[0007] Furthermore, a bearing plate is fixedly provided on the side of the first slider assembly away from the secondary beam slide rail, the secondary beam drive motor is fixedly provided on the bearing plate, a plurality of second sliders are provided on the side of the bearing plate facing the first arm, each of the second sliders is slidably connected to the outer surface of the first arm facing the side of the secondary beam; the fixed part of the arm drive motor is fixedly provided on the bearing plate, and the driving end of the arm drive motor passes through the bearing plate and is connected to the belt speed multiplication mechanism.

[0008] Furthermore, a first arm slide rail is provided on the outer surface of the side surface where each of the first arms and the second slider is connected in the vertical direction, and the second slider is slidably connected to the first arm slide rail.

[0009] Furthermore, a third slider is provided on the inner surface of the side where each of the first arm parts connects with the first slider assembly, and a second arm slide rail is provided on the outer surface of the side where each of the second arm parts connects with the first arm in the vertical direction, and the third slider is slidably connected to the second arm slide rail.

[0010] Furthermore, each of the synchronization components includes a synchronization wheel provided at the upper top and lower bottom of the first arm portion facing away from the side of the main beam, and a belt buckle is fixedly provided on the side of the second arm portion facing away from the main beam, and an annular synchronization belt passes through the belt buckle and is transmission-connected between the two synchronization wheels.

[0011] Furthermore, each of the belt speed-multiplying mechanisms includes a first transmission belt arranged in a vertical direction on the outer surface of the first arm portion facing away from the side of the main beam, and two belt tensioning pulleys are provided on the upper side of each first sliding assembly facing the first arm portion and adjacent to the first transmission belt, and the two belt tensioning pulleys are in close contact with the first transmission belt for transmission, and the driving end of the arm driving motor is connected to the first transmission belt.

[0012] Furthermore, a rack is provided on the top surface of each of the sub-beams in its length direction and parallel to the sub-beam slide rail, and a gear is provided at the driving end of each of the sub-beam drive motors, and the rack is meshed with the gear. The fixed part of each of the sub-beam drive motors is fixedly connected to the supporting plate, and the gear at the driving end of each of the sub-beam drive motors is meshed and connected to the rack.

[0013] Furthermore, a main slide rail is provided in the horizontal direction on the surface opposite to the main beam and the mounting base, a main slider is slidably connected to the main slide rail, a main slide block is fixedly provided on the surface of the main slide block, a control chassis, a main driving mechanism and a secondary crossbeam are installed on the surface of the main slide block, and the control chassis, the main driving mechanism and the secondary crossbeam can move along with the main slide block on the main crossbeam along the length direction of the main crossbeam, a main slide rail driving wheel is provided on the driving end of the main driving mechanism, a main transmission belt is provided on the main beam in the horizontal direction and parallel to the main slide rail, and the main slide rail driving wheel is transmission-connected to the main transmission belt.

[0014] Furthermore, a working clamp is connected to the bottom end of each of the second arms, and the two working clamps may have the same or different shapes.

[0015] The beneficial technical effect of the utility model is as follows: the utility model provides a five-axis servo robot, which makes the main robot arm and the auxiliary robot arm more compact in spatial position by changing the installation method of the two-section robot arm, so that its center of gravity is more stable in structure; in addition, the belt tensioning wheel in the belt speed-doubling mechanism located on the first arm portion of the present application has a shorter overall extended size, which further makes the structure of the utility model more stable, reduces the arm shaking amplitude, and has high accuracy in positioning and picking up products. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the whole assembly of the utility model;

[0017] Figure 2 This is a schematic diagram of the utility model from another angle;

[0018] Figure 3 It is a schematic diagram of the load-bearing plate and the components located on the load-bearing plate in the utility model;

[0019] Figure 4 It is a schematic diagram of the load-bearing plate and the components on the load-bearing plate in the utility model from another angle;

[0020] Figure 5 It is a schematic diagram of assembling the first arm part, the second arm part and the synchronous component therebetween in the utility model;

[0021] Figure 6 It is a schematic diagram of the first arm in the utility model;

[0022] Figure 7 It is a schematic diagram of the second arm of the utility model. DETAILED DESCRIPTION

[0023] In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the specific implementation methods of the utility model are further described in detail below in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the utility model but are not used to limit the scope of the utility model.

[0024] like Figure 1-Figure 7As shown, the utility model provides a five-axis servo robot arm, which includes a main crossbeam 1 fixedly mounted on a mounting base 5 and arranged horizontally, two main slide rails 102 are arranged horizontally and spaced apart and parallel to each other on the opposite surface of the main crossbeam 1 and the mounting base 5, two main sliders 103 are arranged slidably connected to each other on each main slide rail 102, the four main sliders 103 on the two main slide rails 102 form a main slider plane, a main slider 104 is fixedly connected to the upper surface of all the main sliders 103, a main driving mechanism 101 and a control box are fixedly mounted on the main slider 104, and the main driving mechanism 101 is electrically connected to and controlled by the control box. Main transmission belt fixed ends are arranged at both ends of the main crossbeam 1 along the horizontal direction, a main transmission belt 106 is connected between the two main transmission belt fixed ends, and the main transmission belt is located between the two main slide rails 102 and parallel to the main slide rails 102. A main slide rail driving wheel 105 is arranged on the driving end of the main driving mechanism 101, and the main slide rail driving wheel is drivingly connected to the main transmission belt 106. When the control box opens the main driving mechanism 101 , the main driving belt 106 drives the main slide plate 104 to move in the horizontal direction under the relative sliding action of the main slide rail 102 and the main slide block 103 .

[0025] The secondary beam 2 is fixed on the surface of the main slide 104 and its length direction is perpendicular to the length direction of the main beam 1 in the plane of the main slide. It can move on the main beam 1 along the length direction of the main beam 1 with the movement of the main slide 104. Two secondary beam slide rails 201 are arranged at intervals and parallel to the length direction of the secondary beam 2 on one vertical side surface of the secondary beam 2. A rack 206 is arranged on the top surface of the secondary beam 2 along the length direction of the secondary beam and parallel to the secondary beam slide rails 201. Two first slide assemblies are slidably connected to each secondary beam slide rail 201 at intervals.

[0026] Each first sliding assembly is composed of a plurality of first sliders 202. In this embodiment, two first sliders 202 are provided on one secondary beam slide rail 201, and one first slider 202 is provided on another secondary beam slide rail 201. The three first sliders 202 form a plane to form a first sliding assembly. A side of each first sliding assembly facing away from the secondary beam 2 is fixedly connected to a bearing plate 204. A secondary beam drive motor 203 with a driving direction of circumferential rotation is fixedly provided on each bearing plate 204. Each secondary beam drive motor 203 is electrically connected to and controlled by the control chassis. A gear 207 is fixedly connected to the driving end of each secondary beam drive motor 203, and the gear 207 is meshed with the rack 206. The fixed portion of each secondary beam drive motor 203 is fixedly connected to the bearing plate 204, and the gear 207 at its driving end is meshedly connected to the rack 206. When the control box turns on each sub-beam driving motor 203, the gear 207 at the driving end of each sub-beam driving motor 203 moves along the rack, so that each carrier plate 204 moves in the longitudinal direction under the relative sliding action of the sub-beam slide rail 201 and the first slider 202. The meshing connection between the gear 207 and the rack 206 can more accurately control the moving distance of the carrier plate 204.

[0027] A plurality of second sliders 205 are provided on one side of each bearing plate 204 away from the side of the secondary beam 2. In this embodiment, a second slider 205 is provided at the upper end and the lower end of the side, and the second slider 205 is used for sliding connection with the first arm 3. Each first arm 3 is a polyhedral strip, the outer surface of which is connected to the corresponding bearing plate 204, and the inner surface of which is connected to the second arm 4, which is a long rectangular strip. When the control box turns on each secondary beam drive motor 203, the bearing plate 204, the first arm 3 on the bearing plate 204, and the second arm 4 connected to the first arm 3 move longitudinally with it at the same time. The side of the first arm 3 used for sliding connection with the secondary beam 2 is the same side as the side of the first arm 3 used for sliding connection with the second arm 4, so that its center of gravity is stable in structure and the movement process is more reliable.

[0028] In this embodiment, the first arm portion 3 is an open trihedron, the open end of which faces away from the secondary beam 2, and the top and bottom ends of which are fixedly connected to a mounting panel in the vertical direction. A first arm slide rail 302 is provided on the outer surface of the side of each first arm portion 3 facing the secondary beam 2 in the vertical direction, and a third slider 303 is provided on the upper end and the lower end of the inner surface of the side of the first arm portion 3 facing the secondary beam 2, and each second slider 202 is slidably connected to the first arm slide rail 302. A second arm slide rail 401 is provided on the outer surface of each second arm portion 4 connected to the first arm portion 3 in the vertical direction. Each third slider 303 is slidably connected to the second arm slide rail 401. A working clamp 403 is connected to the bottom end of each second arm portion 4, and the two working clamps 403 may be of the same shape or different shapes to meet the needs of simultaneously grabbing products of different models.

[0029] An arm driving motor 301 is fixedly arranged on each carrier plate 204, and the arm driving motor 301 on the carrier plate 204 close to the main beam 1 is located on one side of the carrier plate 204 close to the main beam 1, and the arm driving motor 301 on the other carrier plate 204 is located on one side of the carrier plate 204 away from the main beam 1. This arrangement makes the space distance between the first arm 3 and the second arm 4 connected in the vertical direction on the two carrier plates 204 more compact, making the structure of the utility model more stable. The driving end of each arm driving motor 301 is provided with an arm driving wheel 3011, and the driving end and driving wheel 3011 of the arm driving motor 301 pass through the carrier plate 204. The arm driving motor 301 is electrically connected to the control box and is controlled by it. Each first arm 3 is fixedly provided with a belt multiple mechanism, which includes: a first transmission belt 304 is fixedly provided along the vertical direction on the outer surface of the side of each first arm 3 away from the main beam 1, and an arm driving wheel 3011 is transmission-connected to the first transmission belt 304. In addition, two belt tensioning wheels 3012 are spaced apart on the side surface of each bearing plate 204 facing the first arm 3 and adjacent to the first transmission belt, and the two belt tensioning wheels 3012 are in close contact with the first transmission belt for transmission.

[0030] A synchronization assembly is provided between each first arm 3 and the second arm 4, and the synchronization assembly includes: a synchronization wheel 305 is fixedly provided on the upper top mounting panel of each first arm 3 and the lower bottom mounting panel of the first arm 3, and the synchronization wheel 305 and the first transmission belt 304 are located on the same side. A first belt buckle 402 is fixedly provided on the upper end of the side of each second arm 4 away from the main crossbeam 1. In addition, a second belt buckle 208 is fixedly provided on the side of each bearing plate 204 facing the first arm 3. An annular synchronization belt 306 passes through the first belt buckle 402 and the second belt buckle 208 and is transmission-connected with the two synchronization wheels 305. Through the above-mentioned belt multiple mechanism and synchronization assembly, the first arm 3 and the second arm 4 can achieve synchronous movement.

[0031] Therefore, each first arm 3 and second arm 4 form a two-section robotic arm, which can be defined as a two-section robotic arm composed of a group of first arm 3 and second arm 4 on the side away from the main beam as the main robotic arm, and another group of first arm 3 and second arm 4 composed of a two-section robotic arm as the auxiliary robotic arm. The main robotic arm and the auxiliary robotic arm synchronously move up and down in the horizontal, longitudinal and vertical directions and use the working clamp 403 to pick up and place products at the same time.

[0032] The belt speed-multiplying mechanism on each of the above-mentioned first arms 3 is located on the side of the first arm 3 away from the main beam, that is, the side closest to the driving end of the arm driving motor on the supporting plate 204. As a result, the belt tensioning pulley 3012 in the belt speed-multiplying mechanism is shorter in overall extended size; in addition, the main robotic arm and the auxiliary robotic arm are more compact in spatial position, further making the structure of the utility model more stable and reducing the amplitude of arm shaking.

[0033] The working principle and operation process of the utility model are as follows:

[0034] In the horizontal direction, the control chassis starts the main driving mechanism 101, and driven by the main transmission belt 106, the main slide plate 104 moves in the horizontal direction under the relative sliding action of the main slide rail 102 and the main slide block 103, and the two working clamps 403 on the secondary beam 2 can realize horizontal movement.

[0035] In the longitudinal direction, the control box starts each sub-beam driving motor 203 and each arm driving motor 301 in sequence. First, each sub-beam driving motor 203 controls the corresponding carrier plate 204, the first arm 3 on the corresponding carrier plate 204, and the second arm 4 on the sub-beam 2 to move synchronously in the longitudinal direction through the movement of the gear 207 at its driving end on the rack 206, and guided by the corresponding sub-beam slide rail 201 and the first slide assembly; then each arm driving motor 301 drives the first arm 3 controlled by its corresponding first transmission belt 304 to move up and down in the vertical direction, and the first transmission belt is tightened by the belt tensioner 3012. At the same time, through the action of the synchronization assembly between the first arm 3 and the second arm 4, that is, through the transmission of the synchronization wheel 305 and the synchronization belt 306, the second arm 4 is further moved downward. After reaching the preset position, the working clamps 403 at the bottom of the two second arms 4 begin to pick up and place products according to the preset program.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principle of the present invention, and these improvements and modifications should also be regarded as within the protection scope of the present invention.

Claims

1. A five-axis servo manipulator, comprising a main beam (1) arranged in a horizontal direction on a mounting base (5), the main beam (1) being slidably connected with a main driving mechanism (101) arranged in a horizontal direction, a control box and a secondary beam (2); the length direction of the secondary beam (2) is perpendicular to the main beam (1), and the secondary beam (2) can slide on the main beam (1) along the length direction of the main beam (1); a secondary beam slide rail (201) is provided on one side surface of the secondary beam (2) along the length direction of the secondary beam (2), and two first slider assemblies are slidably connected to the secondary beam slide rail (201) at intervals, characterized in that: One side of each of the first slider components is connected to a secondary beam driving motor (203) with a longitudinal driving direction, and the other side of each of the first slider components is slidably connected to the outer surface of the first arm (3) facing the side of the secondary beam (2), and each of the first arm (3) is slidably connected to the second arm (4) along the vertical direction on the inner surface of the side where the first slider component is slidably connected, and a synchronization component is connected between each of the second arm (4) and the first arm (3); a belt speed-multiplying mechanism is fixedly provided on the other side of each of the first arm (3) away from the main beam; and an arm driving motor (301) with a vertical driving direction is fixedly provided on each of the first slider components, and the driving end of each of the arm driving motors (301) is connected to the belt speed-multiplying mechanism.

2. The five-axis servo manipulator according to claim 1, characterized in that: A bearing plate (204) is fixedly arranged on the side of the first slider assembly away from the secondary beam slide rail (201); the secondary beam drive motor (203) is fixedly arranged on the bearing plate (204); a plurality of second sliders (205) are arranged on the side of the bearing plate (204) facing the first arm (3); each of the second sliders (205) is slidably connected to the outer surface of the first arm (3) facing the secondary beam (2); the fixed part of the arm drive motor (301) is fixedly arranged on the bearing plate (204); the drive end of the arm drive motor (301) passes through the bearing plate (204) and is connected to the belt speed multiplication mechanism.

3. The five-axis servo manipulator according to claim 2, characterized in that: A first arm slide rail (302) is provided along the vertical direction on the outer surface of the side surface where each first arm (3) is connected to the second slide block (205), and the second slide block (205) is slidably connected to the first arm slide rail (302).

4. The five-axis servo manipulator according to claim 1, characterized in that: A third slider (303) is provided on the inner surface of the side surface where each of the first arm parts (3) is connected to the first slider assembly, and a second arm slide rail (401) is provided along the vertical direction on the outer surface of the side surface where each of the second arm parts (4) is connected to the first arm part (3), and the third slider (303) is slidably connected to the second arm slide rail (401).

5. The five-axis servo manipulator according to claim 1, characterized in that: Each of the synchronous components comprises a synchronous wheel (305) provided at the upper top and lower bottom of the first arm portion (3) facing away from the side of the main beam (1), a belt buckle (402) fixedly provided on the side of the second arm portion (4) facing away from the main beam (1), and an annular synchronous belt (306) passing through the belt buckle (402) and being transmission-connected between the two synchronous wheels (305).

6. The five-axis servo manipulator according to claim 1, characterized in that: Each of the belt speed-multiplying mechanisms comprises a first transmission belt (304) arranged in a vertical direction on the outer surface of the first arm portion (3) facing away from the side of the main beam (1); two belt tensioning wheels (3012) are arranged at intervals on the upper side of each first sliding component facing the first arm portion (3) and adjacent to the first transmission belt (304); the two belt tensioning wheels (3012) are in close contact with the first transmission belt (304) for transmission; and the driving end of the arm driving motor (301) is connected to the first transmission belt (304).

7. The five-axis servo manipulator according to claim 1, characterized in that: A rack (206) is provided on the top surface of each of the sub-beams (2) in the length direction thereof and parallel to the sub-beam slide rail (201); a gear (207) is provided at the driving end of each of the sub-beam drive motors (203); the rack (206) is meshed with the gear (207); a fixed portion of each of the sub-beam drive motors (203) is fixedly connected to the bearing plate (204); and the gear (207) at the driving end of each of the sub-beam drive motors (203) is meshedly connected to the rack (206).

8. The five-axis servo manipulator according to claim 1, characterized in that: A main slide rail (102) is provided on the surface opposite to the main crossbeam (1) and the mounting base (5) in the horizontal direction, a main slider (103) is slidably connected to the main slide rail (102), a main slide plate (104) is fixedly provided on the surface of the main slide plate (103), a control box, a main drive mechanism (101) and a secondary crossbeam (2) are installed on the surface of the main slide plate (104), and the control box, the main drive mechanism (101) and the secondary crossbeam (2) can move on the main crossbeam along the length direction of the main crossbeam (1) along with the main slide plate (104), a main slide rail driving wheel (105) is provided on the driving end of the main drive mechanism (101), a main transmission belt (106) is provided on the main crossbeam (1) in the horizontal direction and parallel to the main slide rail (102), and the main slide rail driving wheel (105) is drivingly connected to the main transmission belt (106).

9. The five-axis servo manipulator according to claim 1, characterized in that: The bottom end of each of the second arms (4) is connected to a working clamp (403), and the two working clamps (403) may be of the same or different shapes.

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