Truss five-axis adapter

Abstract

The utility model provides a five-axis transfer hand for a truss. The five-axis transfer hand comprises a base, a left-right moving assembly, an up-down moving assembly, a first rotating assembly, a second rotating assembly and a correcting assembly. The left-right moving assembly is connected with the base, the left-right moving assembly has the degree of freedom of left-right movement, the up-down moving assembly is connected with the left-right moving assembly, the up-down moving assembly has the degree of freedom of up-down movement, the first rotating assembly is connected with the up-down moving assembly, and the first rotating assembly has the degree of freedom of rotating around a vertical shaft. The second rotating assembly is connected with the first rotating assembly, the second rotating assembly is provided with a degree of freedom for rotating around a vertical shaft, the correction assembly is connected with the second rotating assembly, and the correction assembly is provided with a degree of freedom for rotating around the vertical shaft. The multi-degree-of-freedom transfer mechanism has multiple degrees of freedom, is large in transfer range, can meet the requirement of quickly transferring workpieces, reduces the labor intensity of workers, and improves the working efficiency.

Description

Technical Field

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

[0002] In industrial production, it is usually necessary to carry and transfer workpieces, etc. Due to the complexity of the work site environment and the different workpiece processing requirements, higher requirements are placed on the degree of freedom, flexibility and operation reliability of the equipment. The Chinese utility model patent with announcement number CN216707498U discloses a four-axis manipulator, including a first rotating mechanism, a first rotating arm, a lifting mechanism, a second rotating mechanism, a second rotating arm and a rotating correction mechanism, wherein the first end of the first rotating arm is connected to the first rotating mechanism, the second end of the first rotating arm is connected to the lifting mechanism, the second rotating mechanism is connected to the lifting mechanism, the first end of the second rotating arm is connected to the second rotating mechanism, and the second end of the second rotating arm is connected to the rotating correction mechanism, the rotating correction mechanism is switched to different workstations through the first rotating mechanism, the rotating correction mechanism is switched between the height differences of different workstations through the lifting mechanism, the rotating correction mechanism is aligned with the workpiece position through the cooperation of the second rotating mechanism and the first rotating mechanism, and the workpiece is driven to rotate through the rotational freedom of the rotating correction mechanism itself, so as to achieve the purpose of correcting the workpiece. The left and right movement range of this solution is limited, and it is not very suitable for long-distance workstation transfer. In addition, the lifting mechanism is set on the first rotating arm and needs to swing with the first rotating arm, which may cause an unstable center of gravity problem. Utility Model Content

[0003] The purpose of the utility model is to provide a device with a larger switching range and greater reliability in view of the deficiencies existing in the above-mentioned background technology.

[0004] In order to achieve the above-mentioned purpose, the utility model provides a truss five-axis adapter, including a base, a left-right moving component, an up-and-down moving component, a first rotating component, a second rotating component and a correction component;

[0005] The left-right moving assembly is connected to the base, and the left-right moving assembly is provided with a degree of freedom of left-right movement; the up-down moving assembly is connected to the left-right moving assembly, and the up-down moving assembly is provided with a degree of freedom of up-down movement; the first rotating assembly is connected to the up-down moving assembly, and the first rotating assembly is provided with a degree of freedom of rotation around a vertical axis; the second rotating assembly is connected to the first rotating assembly, and the second rotating assembly is provided with a degree of freedom of rotation around a vertical axis; the correction assembly is connected to the second rotating assembly, and the correction assembly is provided with a degree of freedom of rotation around a vertical axis;

[0006] The left-right moving assembly comprises left-right beams, a sliding seat and left-right driving parts. The sliding seat is slidably connected to the left-right beams. The left-right driving parts are used to drive the sliding seat to slide along the left-right beams.

[0007] Furthermore, the left and right driving parts include racks arranged on the left and right beams, a gear arranged on the sliding seat, and a first motor, the first motor is transmission-connected to the gear, and the gear is meshed with the rack.

[0008] Furthermore, both ends of the left and right beams are provided with limiting bases, and limiting rubber pads made of elastic material are provided on the limiting bases.

[0009] Furthermore, the up and down moving assembly includes a column and a screw drive mechanism, the column is provided with a second guide rail, the sliding seat is provided with a slider, the slider is slidably connected to the second guide rail, the screw drive mechanism is provided on the sliding seat, and the nut of the screw drive mechanism is connected to the column.

[0010] Furthermore, the up-and-down moving assembly further comprises a balancing cylinder, a cylinder body of the balancing cylinder is fixedly connected to the sliding seat, and an end of a piston rod of the balancing cylinder is fixedly connected to the column.

[0011] Furthermore, the first rotating assembly includes a first rotating arm and a second motor, the first end of the first rotating arm is rotatably connected to the column, the second motor is disposed on the column, and the second motor is transmission-connected to the first rotating arm.

[0012] Furthermore, the second rotating assembly includes a second rotating arm and a third motor, the first end of the second rotating arm is rotationally connected to the second end of the first rotating arm, and the third motor is arranged at the second end of the first rotating arm and is transmission-connected to the second rotating arm.

[0013] Furthermore, the correction assembly includes a correction disk and a fourth motor, the correction disk is rotationally connected to the second end of the second rotating arm, the fourth motor is arranged at the second end of the second rotating arm, and the fourth motor is transmission-connected to the correction disk.

[0014] Furthermore, the fourth motor rotates around its own central axis.

[0015] The above solution of the utility model has the following beneficial effects:

[0016] The truss five-axis transfer hand provided by the utility model has multiple degrees of freedom and a large transfer range through the arrangement of a base, a left-right moving assembly, an up-and-down moving assembly, a first rotating assembly, a second rotating assembly and a correction assembly, which can meet the needs of fast transfer of workpieces, reduce manual labor intensity and improve work efficiency.

[0017] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 Another schematic diagram of the overall structure of the utility model;

[0020] Figure 3 It is a schematic diagram of the left-right moving component of the utility model.

[0021] [Description of Reference Numerals]

[0022] 10-base; 20-left and right moving assembly; 21-left and right beams; 22-sliding seat; 23-first guide rail; 24-rack; 25-gear; 26-first motor; 27-limiting base; 30-up and down moving assembly; 31-column; 32-screw drive mechanism; 33-second guide rail; 34-slider; 35-balancing cylinder; 40-first rotating assembly; 41-first rotating arm; 42-second motor; 50-second rotating assembly; 51-second rotating arm; 52-third motor; 60-correction assembly; 61-correction disk; 62-fourth motor. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are provided in the drawings. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0028] like Figure 1 , Figure 2 As shown, an embodiment of the utility model provides a truss five-axis transfer hand, including a base 10, a left-right moving assembly 20, an up-down moving assembly 30, a first rotating assembly 40, a second rotating assembly 50 and a correction assembly 60. Among them, the left-right moving assembly 20 is connected to the base 10, and has the freedom to move left-right. The up-down moving assembly 30 is connected to the left-right moving assembly 20, and has the freedom to move up-down. The first rotating assembly 40 is connected to the up-down moving assembly 30, and has the freedom to rotate around the vertical axis. The second rotating assembly 50 is connected to the first rotating assembly 40, and has the freedom to rotate around the vertical axis. The correction assembly 60 is connected to the second rotating assembly 50, and also has the freedom to rotate around the vertical axis. Relying on the settings of the left-right moving assembly 20 and the up-down moving assembly 30, the transfer hand can be moved to different workstations and operated, and relying on the settings of the first rotating assembly 40, the second rotating assembly 50 and the correction assembly 60 to ensure that the transfer hand is docked with the workpiece and transferred.

[0029] At the same time Figure 3 As shown, in this embodiment, the left-right moving assembly 20 includes left-right beams 21 and a sliding seat 22. The left-right beams 21 are provided with a first guide rail 23, and the sliding seat 22 is slidably provided on the first guide rail 23. At the same time, the left-right beams 21 are also provided with a rack 24, and the sliding seat 22 is provided with a gear 25 and a first motor 26. The first motor 26 is connected to the gear 25 (through a reducer, etc.), and the gear 25 is meshed with the rack 24. Therefore, when the first motor 26 drives the gear 25 to rotate, it can drive the sliding seat 22 to move along the left-right beams 21.

[0030] As a preferred embodiment, in this embodiment, both ends of the left and right beams 21 are further provided with limit bases 27, which are used to limit the moving range of the sliding seat 22 to prevent the sliding seat 22 from being separated from the left and right beams 21, and the gear 25 from being separated from the rack 24, etc. Among them, a limit rubber pad made of elastic material can be provided on the limit base 27 to buffer the sliding seat 22 and avoid hard collision.

[0031] In this embodiment, the up-and-down moving assembly 30 includes a column 31 and a screw drive mechanism 32. The column 31 is provided with a second guide rail 33, and the sliding seat 22 is provided with a slider 34, which is slidably connected to the second guide rail 33. The screw drive mechanism 32 is provided on the sliding seat 22, and the nut of the screw drive mechanism 32 is connected to the column 31 to drive the column 31 to move up and down relative to the sliding seat 22.

[0032] As a preferred embodiment, the up and down moving component 30 in this embodiment also includes a balancing cylinder 35, the cylinder body of the balancing cylinder 35 is fixedly connected to the sliding seat 22, and the piston rod end of the balancing cylinder 35 is fixedly connected to the column 31. The air pressure of the balancing cylinder 35 is relied upon to compensate for the uneven force between the column 31 and the sliding seat 22, thereby improving the reliability and stability of the equipment.

[0033] In this embodiment, the first rotating assembly 40 includes a first rotating arm 41 and a second motor 42, and the second rotating assembly 50 includes a second rotating arm 51 and a third motor 52. The first end of the first rotating arm 41 is rotatably connected to the bottom end of the column 31, and the second motor 42 is arranged at the bottom end of the column 31 and is transmission-connected to the first rotating arm 41 (through a reducer, etc.), so as to drive the first rotating arm 41 to swing around the column 31. The first end of the second rotating arm 51 is rotatably connected to the second end of the first rotating arm 41, and the third motor 52 is arranged at the second end of the first rotating arm 41 and is transmission-connected to the second rotating arm 51 (through a reducer, etc.), so as to drive the second rotating arm 51 to swing relative to the first rotating arm 41. Relying on the arrangement of the first rotating arm 41 and the second rotating arm 51, the flexibility of the transfer hand can be significantly improved to meet different transfer operation requirements.

[0034] In this embodiment, the correction component includes a correction disk 61 and a fourth motor 62. The correction disk 61 is rotatably connected to the second end of the second rotating arm 51, and the fourth motor 62 is arranged at the second end of the second rotating arm 51 and is transmission-connected to the correction disk 61 (through a reducer, etc.). A plurality of mounting grooves are arranged on the correction disk 61, and a suction cup, a finger cylinder, etc. can be arranged in the mounting groove to transfer the workpiece. It should be noted that the correction disk 61 rotates around its own central axis under the drive of the fourth motor 62 to adjust the suction cup, the finger cylinder, etc., or to adjust the angle after picking up the workpiece.

[0035] In summary, the truss five-axis adapter provided in this embodiment has multiple degrees of freedom through the arrangement of the base 10, the left and right moving assembly 20, the up and down moving assembly 30, the first rotating assembly 40, the second rotating assembly 50 and the correction assembly 60, can meet the needs of rapid transfer of workpieces, reduce manual labor intensity, and improve work efficiency.

[0036] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0037] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A truss five-axis adapter, characterized in that: It comprises a base (10), a left-right moving assembly (20), an up-down moving assembly (30), a first rotating assembly (40), a second rotating assembly (50) and a correction assembly (60); The left-right moving component (20) is connected to the base (10), and the left-right moving component (20) is provided with a degree of freedom of left-right movement; the up-down moving component (30) is connected to the left-right moving component (20), and the up-down moving component (30) is provided with a degree of freedom of up-down movement; the first rotating component (40) is connected to the up-down moving component (30), and the first rotating component (40) is provided with a degree of freedom of rotation around a vertical axis; the second rotating component (50) is connected to the first rotating component (40), and the second rotating component (50) is provided with a degree of freedom of rotation around a vertical axis; the correction component (60) is connected to the second rotating component (50), and the correction component (60) is provided with a degree of freedom of rotation around a vertical axis; The left-right moving assembly (20) comprises left-right beams (21), a sliding seat (22) and left-right driving parts, wherein the sliding seat (22) is slidably connected to the left-right beams (21), and the left-right driving parts are used to drive the sliding seat (22) to slide along the left-right beams (21).

2. The five-axis truss adapter according to claim 1, characterized in that: The left and right driving parts comprise racks (24) arranged on the left and right beams (21), a gear (25) arranged on the sliding seat (22), and a first motor (26); the first motor (26) is transmission-connected to the gear (25), and the gear (25) is meshed with the rack (24).

3. The five-axis truss adapter according to claim 2, characterized in that: Both ends of the left and right beams (21) are also provided with limiting bases (27), and limiting rubber pads made of elastic material are provided on the limiting bases (27).

4. The five-axis truss adapter according to claim 1, characterized in that: The up-and-down moving assembly (30) comprises a column (31) and a screw drive mechanism (32); a second guide rail (33) is arranged on the column (31); a slider (34) is arranged on the sliding seat (22); the slider (34) is slidably connected to the second guide rail (33); the screw drive mechanism (32) is arranged on the sliding seat (22); and a nut of the screw drive mechanism (32) is connected to the column (31).

5. The five-axis truss adapter according to claim 4 is characterized in that: The up-and-down moving assembly (30) further comprises a balancing cylinder (35), the cylinder body of the balancing cylinder (35) being fixedly connected to the sliding seat (22), and the end of the piston rod of the balancing cylinder (35) being fixedly connected to the column (31).

6. The five-axis truss adapter according to claim 4, characterized in that: The first rotating assembly (40) comprises a first rotating arm (41) and a second motor (42), wherein a first end of the first rotating arm (41) is rotationally connected to the column (31), and the second motor (42) is disposed on the column (31), and the second motor (42) is transmission-connected to the first rotating arm (41).

7. The five-axis truss adapter according to claim 6, characterized in that: The second rotating assembly (50) comprises a second rotating arm (51) and a third motor (52); the first end of the second rotating arm (51) is rotationally connected to the second end of the first rotating arm (41); and the third motor (52) is arranged at the second end of the first rotating arm (41) and is transmission-connected to the second rotating arm (51).

8. The five-axis truss adapter according to claim 7, characterized in that: The correction assembly (60) comprises a correction disk (61) and a fourth motor (62); the correction disk (61) is rotationally connected to the second end of the second rotating arm (51); the fourth motor (62) is arranged at the second end of the second rotating arm (51); and the fourth motor (62) is transmission-connected to the correction disk (61).

9. The five-axis truss adapter according to claim 8, characterized in that: The fourth motor (62) rotates around its own central axis.

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