A five-axis column robot

Abstract

The utility model discloses a five-axis column robot, including a mounting base plate and a base, wherein the upper end of the base is provided with a first axis assembly, a second axis assembly, a third axis assembly, a fourth axis assembly and a fifth axis assembly, wherein the first axis assembly includes a column, a hand-grip mounting seat is provided on the fifth axis assembly, and two parallel air claws are provided on the hand-grip mounting seat, wherein the second axis assembly includes a second pinion, a lifting frame and a first shaft arm, wherein a rack is provided inside the column, the lifting frame is slidably connected to the outside of the column, a second servo motor and a second planetary reducer are fixed to the outside of the lifting frame, the output shaft of the second servo motor is connected to the input end of the second planetary reducer, the output end of the second planetary reducer is connected to a second pinion, the second pinion is meshed with the rack, the side of the lifting frame is connected to one end of the first shaft arm, the other end of the first shaft arm is connected to the second axis assembly, and an avoidance through hole is provided on the side of the column. This structure improves flexibility.

Description

Technical Field

[0001] The utility model belongs to the technical field related to manipulators, and particularly relates to a five-axis column robot. Background Art

[0002] The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines.

[0004] The five-axis robot is a five-joint manipulator for the industrial field that can perform work automatically. For example, the high-rigidity five-axis robot disclosed in Patent No. 202020604241.8 or the stamping and loading five-axis robot disclosed in Patent No. 201520623063.2, although both realize five-axis operation, for example, the structure of a high-rigidity five-axis robot is affected by the length of the robot arm, resulting in the overall lifting height range being limited; poor practicality; for example, a five-axis swing-arm joint robot uses a screw drive to achieve lifting and lowering, which solves the problem of the height being affected by the length of the robot arm, but has poor load-bearing capacity, low transmission efficiency and poor flexibility, so it needs to be improved. Utility Model Content

[0005] The utility model aims to provide a five-axis column robot, which solves the problems of poor load-bearing capacity, low transmission efficiency and poor flexibility of the existing five-axis robots.

[0006] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0007] The utility model discloses a five-axis column robot, comprising a mounting base, a base is arranged on the mounting base, a rotatable one-axis assembly is arranged on the upper end of the base, a two-axis assembly is arranged on the side of the one-axis assembly, a three-axis assembly is connected to one end of the two-axis assembly away from the one-axis assembly, a four-axis assembly is connected to one end of the three-axis assembly away from the two-axis assembly, a five-axis assembly is arranged on one end of the four-axis assembly away from the three-axis assembly, the one-axis assembly comprises a column, a hand-grip mounting seat is arranged on the five-axis assembly, two parallel air grippers for clamping rod products are arranged on the hand-grip mounting seat, the two-axis assembly comprises a second servo motor, a second planetary reduction A gear machine, a second pinion, a rack, a lifting frame and a first shaft arm, a rack extending along the length direction of the column is provided in the column, the lifting frame is slidably connected to the outside of the column, a second servo motor and a second planetary reducer are fixed to the outside of the lifting frame, the output shaft of the second servo motor is connected to the input end of the second planetary reducer, the output end of the second planetary reducer is inserted into the column and connected to the second pinion, the second pinion is meshed with the rack, the side of the lifting frame is connected to one end of the first shaft arm, the other end of the first shaft arm is connected to the two-shaft assembly, and an avoidance through hole is provided on the side of the column to facilitate the up and down movement of the output end of the second planetary reducer.

[0008] Preferably, at least one guide rail is provided in the column, and a slider slidably connected to the guide rail is provided on the back of the lifting frame.

[0009] Preferably, the one-axis assembly can rotate around its axial direction, and the two-axis assembly can drive the lifting frame to move along the axial direction of the one-axis assembly; the three-axis assembly can rotate around the connection between it and the two-axis assembly, the four-axis assembly can rotate around the connection between it and the three-axis assembly, and the five-axis assembly can drive the hand-grip mounting base to rotate around the axial direction of the four-axis assembly.

[0010] Preferably, an inner gear ring is provided in the base, and the one-axis assembly includes a column, a first servo motor, a first planetary reducer and pinion 1. The first servo motor is fixed to the surface of the bottom of the column, and the output shaft of the first servo motor is connected to the input end of the first planetary reducer fixed on the column. The output end of the first planetary reducer passes through the bottom of the column and is connected to pinion 1, and the pinion 1 is meshed with the inner gear ring; the three-axis assembly includes a second shaft arm, a third servo motor and a first harmonic reducer. The third servo motor is fixed above one end of the first shaft arm, and the output end of the third servo motor is connected to the input end of the first harmonic reducer fixed in the first shaft arm. The output end of the first harmonic reducer is connected to one end of the second shaft arm, and the second shaft arm is located below one end of the first shaft arm.

[0011] Preferably, the four-axis assembly includes a fourth servo motor, a second harmonic reducer and a third shaft arm, the fourth servo motor is fixed at the other end of the second shaft arm, the output shaft of the fourth servo motor is connected to the input end of the second harmonic reducer, and the output end of the second harmonic reducer is connected to one end of the third shaft arm.

[0012] Preferably, the five-axis assembly includes a fifth servo motor and a third harmonic reducer, the fifth servo motor is fixed at the other end of the third shaft arm, the output shaft of the fifth servo motor is connected to the input end of the third harmonic reducer, the output end of the third harmonic reducer is connected to the hand grip mounting seat, and two parallel air grippers are located one behind the hand grip mounting seat and the other on the side of the hand grip mounting seat.

[0013] Preferably, in order to improve the protection of electrical equipment, the first servo motor and the first planetary reducer outer casing have a lower accordion cover fixed above the bottom of the column, and the second servo motor and the second planetary reducer outer casing have an upper accordion cover fixed on the lifting frame.

[0014] Preferably, to facilitate later wiring, an inverted U-shaped wiring tube 1 is fixed on the first shaft arm, and the other end of the U-shaped wiring tube 1 is hinged to the top of the second shaft arm. An inverted U-shaped wiring tube 2 is fixed on the second shaft arm, and the other end of the U-shaped wiring tube 2 is hinged to the top of the hand-grip mounting seat.

[0015] Preferably, a connecting cylinder 1 is provided at one end of the first shaft arm away from the lifting frame, a deep groove ball bearing 1 is provided in the connecting cylinder 1, and the first harmonic reducer is provided in the deep groove ball bearing 1.

[0016] The utility model has the following beneficial effects:

[0017] 1. The overall structure is simple and the lifting is stable;

[0018] 2. The servo motor is matched with the reducer, gear and rack to achieve strong load-bearing capacity: the power is transmitted through the meshing of the gear and rack, which has a high load-bearing capacity;

[0019] 3. The servo motor is used in conjunction with the reducer, gears and racks to achieve high transmission efficiency: the overall transmission efficiency is high, and the power of the motor can be more effectively converted into lifting force;

[0020] 4. Wide application range. Since the lifting is realized by the combination of gears and racks, the lifting range of this structure is larger than that of the existing shaft arm hinged lifting. It is suitable for lifting requirements of various speeds and strokes, and has high flexibility and adaptability.

[0021] 5. The bottom rotation adopts the method of using servo motor and reducer to drive gear and gear ring to realize the rotation to improve stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of a five-axis column robot in Example 1 Figure 1 ;

[0023] Figure 2 A schematic diagram of the structure of a five-axis column robot in Example 1 Figure 2 ;

[0024] Figure 3 The structure diagram of a five-axis column robot without a mounting base and a base at the bottom in Example 1 Figure 1 ;

[0025] Figure 4 The structure diagram of a five-axis column robot without a mounting base and a base at the bottom in Example 1 Figure 2 ;

[0026] Figure 5 for Figure 4 The second axis arm and

[0027] Figure 6 This is a structural schematic diagram of a five-axis column robot in Example 1, in which no mounting base and base are installed at the bottom and the side panels of the column are removed;

[0028] Figure 7 This is a schematic diagram of the connection structure of the second servo motor, the second planetary reducer, the second pinion, and the rack in the two-axis assembly in Example 1;

[0029] Figure 8 It is a schematic diagram of the assembly structure of the five-axis component and the hand-grip mounting base.

[0030] Reference numerals:

[0031] Install the base plate 1, the base 2, the first axis assembly 3, the column 301, the first servo motor 302, the first planetary reducer 303, the pinion 1 304, the second axis assembly 4, the second servo motor 401, the second planetary reducer 402, the pinion 2 403, the rack 404, the lifting frame 405, the positioning plate 4051, the first axis arm 406, the avoidance through hole 407, the three-axis assembly 5, the second axis arm 501, the third servo motor 502, the first harmonic reducer Speed ​​machine 503, four-axis assembly 6, fourth servo motor 601, second harmonic reducer 602, third shaft arm 603, five-axis assembly 7, fifth servo motor 701, third harmonic reducer 702, hand-grip mounting seat 8, parallel air claw 9, inner gear ring 10, lower accordion cover 11, upper accordion cover 12, U-shaped wiring tube 1 13, U-shaped wiring tube 2 14, connecting cylinder 15, deep groove ball bearing 16, guide rail 17, slider 18, rod products 19. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.

[0033] Example 1

[0034] See also Figure 1-8As shown, a five-axis column robot disclosed in this embodiment includes a mounting base plate 1, on which a base 2 is provided, a rotatable one-axis component 3 is provided at the upper end of the base 2, a two-axis component 4 is provided on the side of the one-axis component 3, the two-axis component 4 is connected to a three-axis component 5 at one end away from the one-axis component 3, the three-axis component 5 is connected to a four-axis component 6 at one end away from the two-axis component 4, and a five-axis component 7 is provided at one end of the four-axis component 6 away from the three-axis component 5, the column 301 includes a frame structure composed of multiple side plates, an inner frame and a bottom plate, the one-axis component 3 includes a column 301, a hand grip mounting seat 8 is provided on the five-axis component 7, and two parallel air grippers 9 for clamping rod products 19 are provided on the hand grip mounting seat 8, and the two-axis component 4 includes a second servo motor 401, a second planetary reducer 402, a small gear Wheel 2 403, rack 404, lifting frame 405 and first shaft arm 406, the column 301 is provided with a rack 404 extending along the length direction of the column 301, the lifting frame 405 is slidably connected to the outside of the column 301, the second servo motor 401 and the second planetary reducer 402 are fixed on the outside of the lifting frame 405, the output shaft of the second servo motor 401 is connected to the input end of the second planetary reducer 402, the output end of the second planetary reducer 402 is inserted into the column 301 and connected to the pinion 2 403, the pinion 2 403 is meshed with the rack 404, the side of the lifting frame 405 is connected to one end of the first shaft arm 406, the other end of the first shaft arm 406 is connected to the two-axis assembly 4, and an avoidance through hole 407 is provided on the side of the column 301 to facilitate the up and down movement of the output end of the second planetary reducer 402.

[0035] Preferably, at least one guide rail 17 is provided in the column 301, and a slider 18 slidably connected to the guide rail 17 is provided on the back of the lifting frame 405. In this embodiment, there are three guide rails 17, one is provided at the front end of the column 301, and two are provided on the side of the column 301 facing the first shaft arm 406. Sliders 18 are provided at corresponding positions inside the lifting frame 405 to guide the lifting frame 405 when it moves up and down to avoid position deviation. The lifting frame 405 is a U-shaped structure, and a positioning plate 4051 is provided on one side of the lifting frame 405, so that the inner wall of the lifting frame 405 contacts three surfaces of the column 301, and a positioning plate 4051 contacts another surface of the column 301, so that the lifting frame 405 is clamped outside the column 301, and when working, it is always ensured that the lifting frame 405 moves along the column 301 and does not separate from the column 301.

[0036] Preferably, the one-axis assembly 3 can rotate around its axial direction, and the two-axis assembly 4 can drive the lifting frame 405 to move axially along the one-axis assembly 3; the three-axis assembly 5 can rotate around the connection between it and the two-axis assembly 4, the four-axis assembly 6 can rotate around the connection between it and the three-axis assembly 5, and the five-axis assembly 7 can drive the hand-grip mounting seat 8 to rotate axially around the four-axis assembly 6.

[0037] Preferably, an inner gear ring 10 is provided in the base 2, the one-axis assembly 3 further includes a first servo motor 302, a first planetary reducer 303 and a pinion 304, the first servo motor 302 is fixed to the surface of the bottom of the column 301, the output shaft of the first servo motor 302 is connected to the input end of the first planetary reducer 303 fixed on the column 301, the output end of the first planetary reducer 303 passes through the bottom of the column 301 and is connected to the pinion 304, the pinion 304 is meshed with the inner gear ring 10; the three-axis assembly 5 includes a second shaft arm 5 01, a third servo motor 502, and a first harmonic reducer 503. The third servo motor 502 is fixed above one end of the first shaft arm 406. The output end of the third servo motor 502 is connected to the input end of the first harmonic reducer 503 fixed in the first shaft arm 406. The output end of the first harmonic reducer 503 is connected to one end of the second shaft arm 501, and the second shaft arm 501 is located below one end of the first shaft arm 406. In order to improve heat dissipation, a cooling fan 504 is also provided in the second shaft arm 501, and a heat dissipation hole 505 is provided on the shaft arm 506 of the second shaft arm 501.

[0038] Preferably, the four-axis assembly 6 includes a fourth servo motor 601, a second harmonic reducer 602 and a third shaft arm 603, the fourth servo motor 601 is fixed at the other end of the second shaft arm 501, the output shaft of the fourth servo motor 601 is connected to the input end of the second harmonic reducer 602, and the output end of the second harmonic reducer 602 is connected to one end of the third shaft arm 603.

[0039] Preferably, the five-axis assembly 7 includes a fifth servo motor 701 and a third harmonic reducer 702, the fifth servo motor 701 is fixed at the other end of the third shaft arm 603, the output shaft of the fifth servo motor 701 is connected to the input end of the third harmonic reducer 702, the output end of the third harmonic reducer 702 is connected to the hand grip mounting seat 8, and two parallel air grippers 9 are located one behind the hand grip mounting seat 8 and the other on the side of the hand grip mounting seat 8.

[0040] Preferably, in order to improve the protection of electrical equipment, the first servo motor 302 and the first planetary reducer 303 are covered with a lower accordion cover 11 fixed above the bottom of the column 301, and the second servo motor 401 and the second planetary reducer 402 are covered with an upper accordion cover 12 fixed on the lifting frame 405. The accordion cover can protect the servo motor and the planetary reducer.

[0041] Preferably, to facilitate later wiring, an inverted U-shaped wiring tube 13 is fixed on the first shaft arm 406, and the other end of the U-shaped wiring tube 13 is hinged to the top of the second shaft arm 501. An inverted U-shaped wiring tube 14 is fixed on the second shaft arm 501, and the other end of the U-shaped wiring tube 14 is hinged to the top of the hand-grip mounting seat 8. The above structure adds two inverted U-shaped wiring tubes with hollow interiors to facilitate later wiring.

[0042] Preferably, a connecting cylinder 15 is provided at one end of the first shaft arm 406 away from the lifting frame 405, a deep groove ball bearing 16 is provided in the connecting cylinder 15, and the first harmonic reducer 503 is provided in the deep groove ball bearing 16.

[0043] The specific working principle of this structure is as follows: the first servo motor 302 is driven to work, and the small gear 1 304 below is driven to rotate after being decelerated by the first planetary reducer 303. Since the small gear 1 304 is meshed with the inner ring 10, the small gear 1 304 is ensured to rotate around the inner ring 10, and finally the upper column 301 is driven to rotate to realize the rotation in the first axis direction; the second servo motor 401 is driven to decelerate through the second planetary reducer 402 and drive the small gear 2 403 to move up and down along the rack 404, and finally drive the lifting frame 405 to move up and down along the two housings 301 to realize the movement in the second axis direction. movement; by driving the third servo motor 502 to work, and driving the second shaft arm 501 to rotate around the connection between it and the first shaft arm 406 after deceleration through the first harmonic reducer 503 to realize movement in the third axis direction; by driving the fourth servo motor 601 to work, and driving the third shaft arm 603 to rotate around the connection between the second shaft arm 501 after deceleration through the second harmonic reducer 602 to realize movement in the fourth axis direction, by driving the fifth servo motor 701 to work, and driving the hand grip mounting seat 8 to rotate around the axial direction of the third shaft arm 603 after deceleration through the third harmonic reducer 702, movement in the fifth axis direction is realized.

[0044] Therefore, this structure achieves the following technical advantages:

[0045] 1. The overall structure is simple and the lifting is stable;

[0046] 2. The servo motor is matched with the reducer, gear and rack to achieve strong load-bearing capacity: the power is transmitted through the meshing of the gear and rack, which has a high load-bearing capacity;

[0047] 3. The servo motor is used in conjunction with the reducer, gears and racks to achieve high transmission efficiency: the overall transmission efficiency is high, and the power of the motor can be more effectively converted into lifting force;

[0048] 4. Wide application range. Since the lifting is realized by the combination of gears and racks, the lifting range of this structure is larger than that of the existing shaft arm hinged lifting. It is suitable for lifting requirements of various speeds and strokes, and has high flexibility and adaptability.

[0049] 5. The bottom rotation adopts the method of using servo motor and reducer to drive gear and gear ring to realize the rotation to improve stability.

[0050] The above are only preferred embodiments of the present invention and do not limit the present invention. Any modification to the technical solutions recorded in the aforementioned embodiments and any equivalent replacement of some of the technical features therein, as well as any modification, equivalent replacement and improvement made, are within the protection scope of the present invention.

Claims

1. A five-axis column robot, comprising a mounting base (1), a base (2) being arranged on the mounting base (1), a rotatable one-axis assembly (3) being arranged at the upper end of the base (2), a two-axis assembly (4) being arranged on the side of the one-axis assembly (3), a three-axis assembly (5) being connected to one end of the two-axis assembly (4) away from the one-axis assembly (3), a four-axis assembly (6) being connected to one end of the three-axis assembly (5) away from the two-axis assembly (4), and a five-axis assembly (7) being arranged at one end of the four-axis assembly (6) away from the three-axis assembly (5), characterized in that: The one-axis assembly (3) comprises a column (301), a hand grip mounting seat (8) is arranged on the five-axis assembly (7), and two parallel air claws (9) for clamping rod products are arranged on the hand grip mounting seat (8), and the two-axis assembly (4) comprises a second servo motor (401), a second planetary reducer (402), a second pinion (403), a rack (404), a lifting frame (405) and a first shaft arm (406), the column (301) is provided with a rack (404) extending along the length direction of the column (301), the lifting frame (405) is slidably connected to the outside of the column (301), and the outside of the lifting frame (405) is fixed A second servo motor (401) and a second planetary reducer (402) are provided. The output shaft of the second servo motor (401) is connected to the input end of the second planetary reducer (402). The output end of the second planetary reducer (402) is inserted into the interior of the column (301) and then connected to the second pinion (403). The second pinion (403) is meshed with the rack (404). The side of the lifting frame (405) is connected to one end of the first shaft arm (406). The other end of the first shaft arm (406) is connected to the two-shaft assembly (4). An avoidance through hole (407) is provided on the side of the column (301) to facilitate the output end of the second planetary reducer (402) to move up and down.

2. A five-axis column robot according to claim 1, characterized in that: One or more guide rails (17) are also arranged in the column (301), and a slider (18) slidably connected to the guide rails (17) is arranged on the back of the lifting frame (405).

3. A five-axis column robot according to claim 2, characterized in that: The one-axis assembly (3) is capable of rotating about its axial direction, and the two-axis assembly (4) is capable of driving the lifting frame (405) to move along the axial direction of the one-axis assembly (3); the three-axis assembly (5) is capable of rotating about its connection with the two-axis assembly (4), the four-axis assembly (6) is capable of rotating about its connection with the three-axis assembly (5), and the five-axis assembly (7) is capable of driving the hand-grip mounting seat (8) to rotate about the axial direction of the four-axis assembly (6).

4. A five-axis column robot according to claim 3, characterized in that: An inner gear ring (10) is provided in the base (2), and the one-axis assembly (3) further comprises a first servo motor (302), a first planetary reducer (303) and a pinion gear 1 (304). The first servo motor (302) is fixed to the surface of the bottom of the column (301), and the output shaft of the first servo motor (302) is connected to the input end of the first planetary reducer (303) fixed to the column (301). The output end of the first planetary reducer (303) passes through the bottom of the column (301) and is connected to the pinion gear 1 (304). The pinion gear 1 (304) ) is meshed with the inner gear ring (10); the three-axis assembly (5) includes a second shaft arm (501), a third servo motor (502), and a first harmonic reducer (503); the third servo motor (502) is fixed above one end of the first shaft arm (406); the output end of the third servo motor (502) is connected to the input end of the first harmonic reducer (503) fixed in the first shaft arm (406); the output end of the first harmonic reducer (503) is connected to one end of the second shaft arm (501), and the second shaft arm (501) is located below one end of the first shaft arm (406).

5. A five-axis column robot according to claim 4, characterized in that: The four-axis assembly (6) comprises a fourth servo motor (601), a second harmonic reducer (602) and a third shaft arm (603), wherein the fourth servo motor (601) is fixed at the other end of the second shaft arm (501), the output shaft of the fourth servo motor (601) is connected to the input end of the second harmonic reducer (602), and the output end of the second harmonic reducer (602) is connected to one end of the third shaft arm (603).

6. A five-axis column robot according to claim 5, characterized in that: The five-axis assembly (7) includes a fifth servo motor (701) and a third harmonic reducer (702), wherein the fifth servo motor (701) is fixed at the other end of the third shaft arm (603), the output shaft of the fifth servo motor (701) is connected to the input end of the third harmonic reducer (702), the output end of the third harmonic reducer (702) is connected to the hand grip mounting seat (8), and two parallel air grippers (9) are located one behind the hand grip mounting seat (8) and the other on the side of the hand grip mounting seat (8).

7. A five-axis column robot according to claim 6, characterized in that: The first servo motor (302) and the first planetary reducer (303) are covered with a lower accordion cover (11) fixed above the bottom of the column (301), and the second servo motor (401) and the second planetary reducer (402) are covered with an upper accordion cover (12) fixed on the lifting frame (405).

8. A five-axis column robot according to claim 7, characterized in that: An inverted U-shaped wiring tube (13) is fixed on the first shaft arm (406), and the other end of the U-shaped wiring tube (13) is hinged to the top of the second shaft arm (501). An inverted U-shaped wiring tube (14) is fixed on the second shaft arm (501), and the other end of the U-shaped wiring tube (14) is hinged to the top of the hand-grip mounting seat (8).

9. A five-axis column robot according to claim 8, characterized in that: A connecting cylinder (15) is provided at one end of the first shaft arm (406) away from the lifting frame (405), a deep groove ball bearing (16) is provided inside the connecting cylinder (15), and the first harmonic reducer (503) is provided inside the deep groove ball bearing (16).

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