Side-mounted hanging arm three-axis robot

By designing a three-axis manipulator with side-mounted hanger arm, using a three-axis servo synchronous movement mechanism and deflection adjustment mechanism, the problem of the long time of material collection by existing robots is solved, and fast, stable and safe product grabbing is achieved, and production efficiency is improved.

CN222697217UActive Publication Date: 2025-04-01SHENZHEN TOOLCEN AUTOMATION EQUIP CO LTD
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Patent Information

Application Number
CN202420341707.8
Authority / Receiving Office
CN · China
Patent Type
Utility models(China)
Current Assignee / Owner
Filing Date
2024-02-23
Publication Date
2025-04-01
Estimated Expiration
2034-02-23

AI Technical Summary

Technical Problem

In some large injection molding machine production fields, existing robots need to gradually adjust the position of the grab handle in multiple directions, resulting in a long material extraction time, which affects production efficiency.

Method used

A three-axis robot with side-take-hook arm is designed, using a three-axis servo synchronous movement mechanism, including a-axis, b-axis and c-axis electric slide rails. By synchronously running these slide rails, synchronous movement of the grab fixture in three directions is achieved.

Benefits of technology

By synchronously driving the gripping fixture to move in three directions, the manipulator's material pickup time is significantly shortened, the production efficiency is improved, and the stability and safety of gripping are ensured through the cooperation of the deflection adjustment mechanism and the buffer spring.

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Abstract

The utility model discloses a side-taking hanging arm three-axis manipulator, comprising a mounting frame, a horizontal frame fixedly connected to the mounting frame, a three-axis servo synchronous moving mechanism fixedly connected to the horizontal frame, a grabbing fixture fixedly connected to the three-axis servo synchronous moving mechanism, and a control box fixedly connected to the horizontal frame; the three-axis servo synchronous moving mechanism comprises an a-axis electric slide fixedly connected to the horizontal frame, a vertical electric slide is slidably mounted on the a-axis electric slide, a b-axis electric slide is slidably mounted on the lower side of the vertical electric slide, and one end of the b-axis electric slide is fixedly connected to the c-axis electric slide. The utility model can synchronously drive the grabbing fixture to move synchronously in three directions, so that the grabbing fixture can quickly move to the position of the product inside the injection molding machine, so that the product can be quickly grabbed, effectively reducing the material picking time of the manipulator and effectively improving production efficiency.
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Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a side-taking hanging arm three-axis manipulator. Background Art

[0002] In some large-scale injection molding machine production fields, in order to take the finished products out of the processing workshop of the injection molding machine, some existing injection molding machine workshops have a certain height limit, and the top entry robot cannot smoothly enter to pick up the materials, and can only pick up the materials from the side. However, since the injection molding machine is very wide, the internal space is large, and the existing robot needs to gradually adjust the position of the grasping fixture in multiple directions to make the grasping fixture close to and grasp the product, which will cause the robot to take the material for a long time, thereby affecting the production efficiency of the entire production system. Utility Model Content

[0003] The utility model aims to provide a side-taking hanging arm three-axis manipulator to solve the problems raised in the above-mentioned background technology.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] The utility model provides a side-taking hanging arm three-axis manipulator, comprising a mounting frame, a horizontal frame fixedly connected to the mounting frame, a three-axis servo synchronous moving mechanism fixedly connected to the horizontal frame, a grabbing fixture fixedly connected to the three-axis servo synchronous moving mechanism, and a control box fixedly connected to the horizontal frame;

[0006] The three-axis servo synchronous moving mechanism includes an a-axis electric slide fixedly connected to a horizontal frame, a vertical electric slide is slidably installed on the a-axis electric slide, a b-axis electric slide is slidably installed on the lower side of the vertical electric slide, one end of the b-axis electric slide is fixedly connected to a c-axis electric slide, a movable mounting plate is slidably installed on the c-axis electric slide, the grabbing fixture is fixedly connected to the movable mounting plate, the vertical electric slide is perpendicular to the a-axis electric slide and the b-axis electric slide, the a-axis electric slide is perpendicular to the b-axis electric slide, the c-axis electric slide is perpendicular to the b-axis electric slide, the c-axis electric slide is parallel to the a-axis electric slide, and the a-axis electric slide, the b-axis electric slide and the c-axis electric slide are all electrically connected to the control box.

[0007] Furthermore, the grabbing fixture includes a deflection adjustment mechanism fixedly connected to a movable mounting plate, the deflection adjustment mechanism is fixedly connected to a fixing plate, two vertical plates are symmetrically fixedly connected to the fixing plate, two mounting holes are symmetrically provided on the vertical plate, a fixing tube is fixedly connected in the mounting hole through two nuts, a mounting rod is fixedly sleeved in the fixing tube, a suction cup is slidably connected to one end of the mounting rod, a buffer spring is movably sleeved on the rod wall of the mounting rod, and the buffer spring is located between the suction cup and the fixing tube.

[0008] Furthermore, the a-axis electric slide rail, the b-axis electric slide rail and the c-axis electric slide rail are all fixedly connected with flexible guide rails.

[0009] Furthermore, the deflection adjustment mechanism includes a shell fixedly connected to the movable mounting plate, an outer wall of the shell is fixedly connected to an electric push rod, an output end of the electric push rod is fixedly connected to a rack, a rotating shaft is rotatably connected to the shell through a bearing, a shaft wall fixed sleeve of the rotating shaft is provided with a gear meshing with the rack, one end of the rotating shaft extends out of the shell and is fixedly connected to a connecting block, and the connecting block is fixedly connected to the fixed plate.

[0010] Furthermore, the a-axis electric slide rail, the b-axis electric slide rail and the c-axis electric slide rail are all fixedly connected with a stroke control switch.

[0011] Furthermore, a mounting seat is fixedly connected to the side wall at the lower side of the mounting frame, and a plurality of pin holes are evenly arranged on the mounting seat.

[0012] Furthermore, the specific shape of the mounting hole is an ellipse, and the mounting hole is opened vertically.

[0013] Furthermore, a plurality of triangular ribs are fixedly connected between the side wall on the upper side of the mounting seat and the vertical side wall of the mounting frame.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model provides a mounting frame, a horizontal frame, a grabbing fixture and a three-axis servo synchronous moving mechanism. When in use, the a-axis electric slide rail, the b-axis electric slide rail and the c-axis electric slide rail are controlled to run synchronously. The a-axis electric slide rail drives the vertical electric slide table to slide horizontally on the a-axis, the vertical electric slide table drives the b-axis electric slide rail to move, the b-axis electric slide rail drives the c-axis electric slide rail to move on the b-axis, and the c-axis electric slide rail drives the grabbing fixture to move on the c-axis, thereby being able to synchronously drive the grabbing fixture to move synchronously in three directions, so that the grabbing fixture can be quickly moved to the position of the product inside the injection molding machine, so that the product can be quickly grabbed, effectively reducing the material picking time of the robot arm and effectively improving production efficiency.

[0016] 2. The utility model provides a grabbing jig. When in use, the directions of the multiple suction cups are adjusted by the deflection adjustment mechanism so that the suction cups are aligned with the products to be grabbed. When the suction cups contact the products, the provided buffer springs can provide buffering to prevent the grabbing jig from causing damage to the products. The multiple suction cups cooperate with each other to stably grab the products, effectively improving the stability and safety of the manipulator in taking materials. The installation position of the fixed cylinder can be adjusted to adjust the spacing between the multiple suction cups, so that the grabbing jig can be adjusted according to the actual size of the product, effectively improving the flexibility of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is a structural schematic diagram of another direction of the utility model;

[0019] Figure 3 It is the front view of the utility model;

[0020] Figure 4 for Figure 1 A schematic diagram of the structure of the three-axis servo synchronous moving mechanism;

[0021] Figure 5 for Figure 1 Schematic diagram of the structure of the medial and lateral grasping fixture;

[0022] Figure 6 for Figure 5 A schematic diagram of the structure of the middle deflection adjustment mechanism;

[0023] Figure 7 for Figure 5 Schematic diagram of the installation structure of the middle suction cup.

[0024] In the figure: 1. mounting frame; 2. horizontal frame; 3. grabbing fixture; 4. control box; 5. a-axis electric slide; 6. vertical electric slide; 7. b-axis electric slide; 8. c-axis electric slide; 9. movable mounting plate; 10. deflection adjustment mechanism; 101. housing; 102. electric push rod; 103. rack; 104. rotating shaft; 105. gear; 106. connecting block; 11. fixing plate; 12. vertical plate; 13. mounting hole; 14. fixing cylinder; 15. mounting rod; 16. suction cup; 17. buffer spring; 18. flexible guide rail; 19. travel control switch; 20. mounting seat; 21. pin hole; 22. triangular rib plate. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-7 The utility model provides a side-taking hanging arm three-axis manipulator, comprising a mounting frame 1, a horizontal frame 2 is fixedly connected to the mounting frame 1, a three-axis servo synchronous moving mechanism is fixedly connected to the horizontal frame 2, a grabbing fixture 3 is fixedly connected to the three-axis servo synchronous moving mechanism, and a control box 4 is fixedly connected to the horizontal frame 2;

[0027] The three-axis servo synchronous moving mechanism includes an a-axis electric slide 5 fixedly connected to the horizontal frame 2, a vertical electric slide 6 is slidably installed on the a-axis electric slide 5, a b-axis electric slide 7 is slidably installed on the lower side of the vertical electric slide 6, one end of the b-axis electric slide 7 is fixedly connected to a c-axis electric slide 8, a movable mounting plate 9 is slidably installed on the c-axis electric slide 8, the grabbing fixture 3 is fixedly connected to the movable mounting plate 9, the vertical electric slide 6 is perpendicular to the a-axis electric slide 5 and the b-axis electric slide 7, the a-axis electric slide 5 is perpendicular to the b-axis electric slide 7, the c-axis electric slide 8 is perpendicular to the b-axis electric slide 7, the c-axis electric slide 8 is parallel to the a-axis electric slide 5, and the a-axis electric slide 5, the b-axis electric slide 7 and the c-axis electric slide 8 are all electrically connected to the control box 4.

[0028] In this embodiment, when in use, the a-axis electric slide 5, the b-axis electric slide 7 and the c-axis electric slide 8 are controlled to run synchronously, the a-axis electric slide 5 drives the vertical electric slide 6 to slide horizontally on the a-axis, the vertical electric slide 6 drives the b-axis electric slide 7 to move, the b-axis electric slide 7 drives the c-axis electric slide 8 to move on the b-axis, and the c-axis electric slide 8 drives the grabbing fixture 3 to move on the c-axis, thereby being able to synchronously drive the grabbing fixture 3 to move synchronously in three directions, so that the grabbing fixture 3 can be quickly moved to the position of the product inside the injection molding machine, thereby being able to quickly grab the product, effectively reducing the material picking time of the robot and effectively improving production efficiency.

[0029] The grabbing fixture 3 includes a deflection adjustment mechanism 10 fixedly connected to the movable mounting plate 9, the deflection adjustment mechanism 10 is fixedly connected to a fixing plate 11, the fixing plate 11 is symmetrically fixedly connected to two vertical plates 12, the vertical plates 12 are symmetrically provided with two mounting holes 13, a fixing tube 14 is fixedly connected in the mounting hole 13 through two nuts, a mounting rod 15 is fixedly sleeved in the fixing tube 14, one end of the mounting rod 15 is slidably connected to a suction cup 16, a rod wall of the mounting rod 15 is movably sleeved with a buffer spring 17, and the buffer spring 17 is located between the suction cup 16 and the fixing tube 14.

[0030] In the above embodiment, when in use, the orientation of the plurality of suction cups 16 is adjusted by the deflection adjustment mechanism 10 so that the suction cups 16 are aligned with the product to be grasped. When the suction cups 16 come into contact with the product, the buffer spring 17 provided can provide buffering to prevent the grasping fixture 3 from causing damage to the product. The plurality of suction cups 16 cooperate with each other to stably grasp the product, which effectively improves the stability and safety of the manipulator in taking materials. The spacing between the plurality of suction cups 16 can be adjusted by adjusting the installation position of the fixed cylinder 14, so that the grasping fixture 3 can be adjusted according to the actual size of the product, which effectively improves the flexibility of the manipulator in using.

[0031] The a-axis electric slide rail 5 , the b-axis electric slide rail 7 and the c-axis electric slide rail 8 are all fixedly connected with a flexible guide rail 18 , which can improve the stability of the operation of the three-axis servo synchronous moving mechanism.

[0032] The deflection adjustment mechanism 10 includes a shell 101 fixedly connected to the movable mounting plate 9, an outer wall of the shell 101 is fixedly connected to an electric push rod 102, an output end of the electric push rod 102 is fixedly connected to a rack 103, a rotating shaft 104 is rotatably connected to the shell 101 through a bearing, a shaft wall of the rotating shaft 104 is fixedly sleeved with a gear 105 meshing with the rack 103, one end of the rotating shaft 104 extends out of the shell 101 and is fixedly connected to a connecting block 106, and the connecting block 106 is fixedly connected to the fixed plate 11.

[0033] In the above embodiment, during adjustment, the electric push rod 102 is controlled to operate, the output end of the electric push rod 102 drives the rack 103 to move, the rack 103 drives the gear 105 to rotate, the gear 105 drives the rotating shaft 104 to rotate, the rotating shaft 104 drives the connecting block 106 to deflect, and the connecting block 106 drives the suction cup 16 to deflect, so that the direction of the suction cup 16 can be quickly adjusted, effectively improving the flexibility of using the grasping fixture 3.

[0034] The a-axis electric slide rail 5 , the b-axis electric slide rail 7 and the c-axis electric slide rail 8 are all fixedly connected with a stroke control switch 19 , so as to facilitate accurate control of the motion stroke of the three-axis servo synchronous moving mechanism.

[0035] A mounting seat 20 is fixedly connected to the side wall at the lower side of the mounting frame 1 , and a plurality of pin holes 21 are evenly formed on the mounting seat 20 , which can improve the convenience of fixing and installing the mounting frame 1 .

[0036] The specific shape of the mounting hole 13 is an ellipse, and the mounting hole 13 is vertically opened, which can increase the adjustment range of the suction cup 16.

[0037] A plurality of triangular ribs 22 are fixedly connected between the side wall on the upper side of the mounting seat 20 and the vertical side wall of the mounting frame 1 . The triangular ribs 22 can reinforce the connection between the mounting seat 20 and the mounting frame 1 , thereby effectively improving the stability of the mounting seat 20 .

[0038] Working principle: When in use, the a-axis electric slide 5, the b-axis electric slide 7 and the c-axis electric slide 8 are controlled to run synchronously, the a-axis electric slide 5 drives the vertical electric slide 6 to slide horizontally on the a-axis, the vertical electric slide 6 drives the b-axis electric slide 7 to move, the b-axis electric slide 7 drives the c-axis electric slide 8 to move on the b-axis, and the c-axis electric slide 8 drives the grabbing fixture 3 to move on the c-axis, thereby being able to synchronously drive the grabbing fixture 3 to move synchronously in three directions, so that the grabbing fixture 3 can quickly move to the position of the product inside the injection molding machine, so that the product can be quickly grabbed, effectively reducing the material picking time of the robot and effectively improving production efficiency;

[0039] During use, the orientation of the plurality of suction cups 16 is adjusted by the deflection adjustment mechanism 10 so that the suction cups 16 are aligned with the product to be grasped. When the suction cups 16 come into contact with the product, the buffer spring 17 provided can provide buffering to prevent the grasping fixture 3 from causing damage to the product. The plurality of suction cups 16 cooperate with each other to stably grasp the product, which effectively improves the stability and safety of the manipulator in taking materials. The installation position of the fixed cylinder 14 can be adjusted to adjust the spacing between the plurality of suction cups 16, so that the grasping fixture 3 can be adjusted according to the actual size of the product, effectively improving the flexibility of the manipulator in using.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A side-access hanging arm three-axis manipulator, comprising a mounting frame (1), characterized in that: The mounting frame (1) is fixedly connected to a cross frame (2), the cross frame (2) is fixedly connected to a three-axis servo synchronous moving mechanism, the three-axis servo synchronous moving mechanism is fixedly connected to a grabbing fixture (3), and the cross frame (2) is fixedly connected to a control box (4); The three-axis servo synchronous moving mechanism comprises an a-axis electric slide rail (5) fixedly connected to the horizontal frame (2), a vertical electric slide table (6) is slidably mounted on the a-axis electric slide rail (5), a b-axis electric slide rail (7) is slidably mounted on the lower side of the vertical electric slide table (6), one end of the b-axis electric slide rail (7) is fixedly connected to a c-axis electric slide rail (8), a movable mounting plate (9) is slidably mounted on the c-axis electric slide rail (8), and the grabbing fixture (3) is fixedly connected On the movable mounting plate (9), the vertical electric slide (6) is perpendicular to the a-axis electric slide rail (5) and the b-axis electric slide rail (7), the a-axis electric slide rail (5) is perpendicular to the b-axis electric slide rail (7), the c-axis electric slide rail (8) is perpendicular to the b-axis electric slide rail (7), the c-axis electric slide rail (8) is parallel to the a-axis electric slide rail (5), and the a-axis electric slide rail (5), the b-axis electric slide rail (7) and the c-axis electric slide rail (8) are all electrically connected to the control box (4).

2. The side-taking hanging arm three-axis manipulator according to claim 1 is characterized in that: The grasping fixture (3) comprises a deflection adjustment mechanism (10) fixedly connected to a movable mounting plate (9), the deflection adjustment mechanism (10) being fixedly connected to a fixing plate (11), the fixing plate (11) being symmetrically fixedly connected to two vertical plates (12), the vertical plates (12) being symmetrically provided with two mounting holes (13), the mounting holes (13) being fixedly connected to a fixing tube (14) via two nuts, the fixing tube (14) being fixedly sleeved with a mounting rod (15), one end of the mounting rod (15) being slidably connected to a suction cup (16), a rod wall of the mounting rod (15) being movably sleeved with a buffer spring (17), the buffer spring (17) being located between the suction cup (16) and the fixing tube (14).

3. The side-taking hanging arm three-axis manipulator according to claim 2 is characterized in that: The a-axis electric slide rail (5), the b-axis electric slide rail (7) and the c-axis electric slide rail (8) are all fixedly connected with a flexible guide rail (18).

4. The side-taking hanging arm three-axis manipulator according to claim 3 is characterized in that: The deflection adjustment mechanism (10) comprises a shell (101) fixedly connected to a movable mounting plate (9); an electric push rod (102) is fixedly connected to the outer wall of the shell (101); an output end of the electric push rod (102) is fixedly connected to a rack (103); a rotating shaft (104) is rotatably connected to the shell (101) via a bearing; a gear (105) meshing with the rack (103) is fixedly sleeved on the shaft wall of the rotating shaft (104); one end of the rotating shaft (104) extends out of the shell (101) and is fixedly connected to a connecting block (106); and the connecting block (106) is fixedly connected to a fixed plate (11).

5. The side-taking hanging arm three-axis manipulator according to claim 4 is characterized in that: The a-axis electric slide rail (5), the b-axis electric slide rail (7) and the c-axis electric slide rail (8) are all fixedly connected with a travel control switch (19).

6. The side-taking hanging arm three-axis manipulator according to claim 5 is characterized in that: A mounting seat (20) is fixedly connected to the side wall at the lower side of the mounting frame (1), and a plurality of pin holes (21) are evenly arranged on the mounting seat (20).

7. The side-taking hanging arm three-axis manipulator according to claim 6 is characterized in that: The specific shape of the mounting hole (13) is an ellipse, and the mounting hole (13) is opened vertically.

8. The side-taking hanging arm three-axis manipulator according to claim 7 is characterized in that: A plurality of triangular ribs (22) are fixedly connected between the side wall on the upper side of the mounting seat (20) and the vertical side wall of the mounting frame (1).