Five-axis robot structure

Abstract

The utility model discloses a five-axis robot structure. According to the technical scheme, the device comprises a fixing base, three motor bases are arranged on the fixing base, each motor base is provided with a servo motor, an output shaft of each servo motor is connected with a swing arm, the tail end of each swing arm is rotationally connected with a connecting rod set, and the tail ends of all the connecting rod sets are jointly rotationally connected to a chassis. A clamping power assembly and a rotating power assembly are arranged on the fixing base, the clamping power assembly comprises a clamping servo speed reducer and a clamping shaft arranged in the clamping servo speed reducer, and the rotating power assembly comprises a rotating servo speed reducer and a rotating shaft arranged in the rotating servo speed reducer. And the clamping shaft is embedded in the rotating shaft through a ball bearing. According to the scheme, products can be rotated, a clamping power source is provided, the clamping device is more flexible and faster in speed, luggage products can be efficiently and rapidly arranged and combined, and the clamping device is suitable for rapid arrangement before stacking.

Description

Technical Field

[0001] The utility model relates to the technical field of conveying equipment, in particular to a five-axis robot structure. Background Art

[0002] The bag unscrambler in the prior art is generally set at the station in front of the palletizer, and its function is to adjust the products to the same direction and position. The Chinese patent No. 202021556473.7 discloses a spider manipulator for food packaging. The advantages of this solution are high efficiency in grabbing and handling, and flexible adjustment methods. The disadvantages are that the product cannot be rotated to adjust the direction, and the product cannot be clamped to achieve grabbing; the overall structure is heavy, which affects the running speed. Utility Model Content

[0003] In view of the deficiencies in the prior art, the main purpose of the utility model is to provide a five-axis robot structure that can rotate products, provides a clamping power source and is more flexible and faster.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a five-axis robot structure, including a fixed seat, three motor seats are arranged on the fixed seat, each motor seat is arranged with a servo motor, the output shaft of each servo motor is connected with a swing arm, the end of each swing arm is rotatably connected with a connecting rod group, the ends of all the connecting rod groups are rotatably connected to the chassis together, a clamping power assembly and a rotating power assembly are arranged on the fixed seat, the clamping power assembly includes a clamping servo reducer and a clamping shaft arranged in the clamping servo reducer, the rotating power assembly includes a rotating servo reducer and a rotating shaft arranged in the rotating servo reducer, and the clamping shaft is connected to the rotating servo reducer. A ball bearing is embedded in the rotating shaft, and the clamping shaft is connected with a clamping long shaft through an upper universal coupling, and the clamping long shaft is connected with a clamping short shaft through a lower universal coupling, and a synchronous wheel is arranged at the lower end of the clamping short shaft, and the rotating shaft is connected with an upper universal seat, and the upper universal seat is connected with an upper universal joint, and the upper universal joint is connected with the rotating long shaft, and a lower universal joint is arranged at the bottom of the rotating long shaft, and the lower universal joint is connected with a lower universal seat, and the lower universal seat is arranged on a rotating disk, and the rotating disk is rotatably connected with the chassis, and the rotating long shaft is sleeved on the clamping long shaft, and the clamping short shaft is rotatably connected with the rotating disk through a ball bearing, and the swing arm and the connecting rod group are made of carbon fiber.

[0005] Preferably, the connecting rod group includes two connecting rods, and the two ends of each connecting rod are rotatably connected to the swing arm and the chassis through a pin shaft.

[0006] Preferably, a top cover is provided on the top of the clamping shaft.

[0007] Preferably, the fixing seat is in a Y-shape.

[0008] The utility model has the following advantages over the prior art: the five-axis parallel bag unscrambling module is designed based on the spider manipulator, which drives the swing arm to move through three servo motors, and the swing arm is rotatably connected to the connecting rod group. By controlling the rotation angle of the three servo motors, the chassis can be moved in three directions of the XYZ axis, which is the same as the structure and principle of the spider manipulator in the prior art. The bag unscrambling machine of this scheme creatively designs a clamping power assembly and a rotating power assembly that are superimposed, wherein the clamping power assembly drives the clamping shaft to rotate through the clamping servo reducer, and the rotating servo reducer of the rotating power assembly drives the rotating shaft to rotate, and the clamping shaft is embedded in the rotating shaft through a ball bearing, so that the rotation of the clamping shaft and the rotation of the rotating shaft do not interfere with each other. The working process of the clamping power assembly is that the clamping shaft is connected to the clamping long shaft through the upper universal coupling, and the clamping long shaft drives the clamping short shaft to rotate through the lower universal coupling, and the synchronous wheel on the clamping short shaft cooperates with the synchronous belt of the gripper module, wherein the clamping short shaft is connected to the rotating disk through a ball bearing, so that the clamping short shaft does not interfere with the chassis. The working process of the rotating power assembly is that the rotating shaft is universally connected to the rotating long shaft through the upper universal joint and the upper universal seat, and the bottom of the rotating long shaft is connected to the rotating disk through the lower universal joint and the lower universal seat, so that the rotating shaft drives the rotating long shaft to rotate, the rotating long shaft drives the rotating disk to rotate, and the rotating disk drives the entire gripper module to rotate, thereby realizing that the gripper module drives the product to rotate and adjust the direction of the product. The clamping long shaft is set inside the rotating long shaft, so that the clamping power assembly and the rotating power assembly do not interfere with each other when working.

[0009] The swing arm and connecting rod assembly in this solution are made of carbon fiber material, which has the characteristics of high strength and light weight. It can improve the strength while reducing the overall weight, further improving the flexibility and speed of the five-axis parallel package handling module. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of the overall structure of the five-axis robot structure of the utility model;

[0011] Figure 2 It is a front view of the five-axis robot structure of the utility model;

[0012] Figure 3 for Figure 2 Cross-sectional view of the AA section;

[0013] Figure 4 It is a structural schematic diagram of the rotary power assembly of the utility model;

[0014] Figure 5 for Figure 4 Cross-sectional view of the AA portion.

[0015] In the figure: 1. fixed seat; 2. motor seat; 3. servo motor; 4. swing arm; 5. connecting rod group; 6. chassis; 7. clamping power assembly; 8. rotating power assembly; 9. clamping servo reducer; 10. clamping shaft; 11. rotating servo reducer; 12. rotating shaft; 13. ball bearing; 14. upper universal joint; 15. clamping long shaft; 16. lower universal joint; 17. clamping short shaft; 18. synchronous wheel; 19. upper universal seat; 20. upper universal joint; 21. rotating long shaft; 22. lower universal joint; 23. lower universal seat; 24. rotating disk; 25. connecting rod; 26. pin shaft; 27. top cover. DETAILED DESCRIPTION

[0016] The utility model will be further described below in conjunction with the accompanying drawings.

[0017] like Figure 1 As shown, a five-axis robot structure includes a fixed seat 1, three motor seats 2 are arranged on the fixed seat 1, each motor seat 2 is provided with a servo motor 3, the output shaft of each servo motor 3 is connected to a swing arm 4, the end of each swing arm 4 is rotatably connected to a connecting rod group 5, and the ends of all the connecting rod groups 5 are rotatably connected to a chassis 6 together, a clamping power assembly 7 and a rotating power assembly 8 are arranged on the fixed seat 1, the clamping power assembly 7 includes a clamping servo reducer 9 and a clamping shaft 10 arranged in the clamping servo reducer 9, the rotating power assembly 8 includes a rotating servo reducer 11 and a rotating shaft 12 arranged in the rotating servo reducer 11, the clamping shaft 10 is embedded in the rotating shaft 12 through a ball bearing 13, and the clamping shaft 10 is connected to the rotating shaft 12 through a ball bearing 13. A clamping long shaft 15 is connected through an upper universal coupling 14, and the clamping long shaft 15 is connected to a clamping short shaft 17 through a lower universal coupling 16. A synchronous wheel 18 is provided at the lower end of the clamping short shaft 17. The rotating shaft 12 is connected to an upper universal seat 19, and the upper universal seat 19 is connected to an upper universal joint 20. The upper universal joint 20 is connected to a rotating long shaft 21. A lower universal joint 22 is provided at the bottom of the rotating long shaft 21, and the lower universal joint 22 is connected to a lower universal seat 23. The lower universal seat 23 is arranged on a rotating disk 24, and the rotating disk 24 is rotatably connected to the chassis 6. The rotating long shaft 21 is sleeved on the clamping long shaft 15, and the clamping short shaft 17 is rotatably connected to the rotating disk 24 through a ball bearing 13. The swing arm 4 and the connecting rod group 5 are both made of carbon fiber.

[0018] The five-axis robot structure of this scheme has a working principle of a five-axis parallel bag unscrambling module based on the spider manipulator design, which drives the swing arm 4 to move through three servo motors 3, and the swing arm 4 is rotatably connected to the connecting rod group 5. By controlling the rotation angle of the three servo motors 3, the chassis 6 can be moved in three directions of the XYZ axis, which is the same as the structure and principle of the spider manipulator in the prior art. The bag unscrambling machine of this scheme creatively designs a clamping power assembly 7 and a rotating power assembly 8 that are superimposed, wherein the clamping power assembly 7 drives the clamping shaft 10 to rotate through the clamping servo reducer 9, and the rotating servo reducer 11 of the rotating power assembly 8 drives the rotating shaft 12 to rotate, and the clamping shaft 10 is embedded in the rotating shaft 12 through the ball bearing 13, so that the rotation of the clamping shaft 10 and the rotation of the rotating shaft 12 do not interfere with each other. The working process of the clamping power assembly 7 is that the clamping shaft 10 is connected to the clamping long shaft 15 through the upper universal coupling 14, the clamping long shaft 15 drives the clamping short shaft 17 to rotate through the lower universal coupling 16, and the synchronous wheel 18 on the clamping short shaft 17 cooperates with the synchronous belt of the gripper module, wherein the clamping short shaft 17 is connected to the rotating disk 24 through the ball bearing 13, so that there is no interference between the clamping short shaft 17 and the chassis 6. The working process of the rotating power assembly 8 is that the rotating shaft 12 is universally connected to the rotating long shaft 21 through the upper universal joint 20 and the upper universal seat 19, and the bottom of the rotating long shaft 21 is connected to the rotating disk 24 through the lower universal joint 22 and the lower universal seat 23, so that the rotating shaft 12 drives the rotating long shaft 21 to rotate, the rotating long shaft 21 drives the rotating disk 24 to rotate, and the rotating disk 24 drives the entire gripper module to rotate, thereby realizing that the gripper module drives the product to rotate and adjust the direction of the product. The clamping long axis 15 is arranged inside the rotating long axis 21 , so that the clamping power assembly 7 and the rotating power assembly 8 do not interfere with each other during operation.

[0019] The swing arm 4 and the connecting rod group 5 in this solution are made of carbon fiber material. The carbon fiber material has the characteristics of high strength and light weight. It can improve the strength while reducing the overall weight, further improving the flexibility and speed of the five-axis parallel bag handling module.

[0020] Preferably, the connecting rod group 5 includes two connecting rods 25, and the two ends of each connecting rod 25 are rotatably connected to the swing arm 4 and the chassis 6 through a pin 26. Each connecting rod group 5 is designed with two connecting rods 25, which can improve the stability of the action process.

[0021] Preferably, a top cover 27 is provided on the top of the clamping shaft 10. The top cover 27 plays a protective role.

[0022] Preferably, the shape of the fixing seat 1 is Y-shaped. The Y-shaped design can reduce the weight of the fixing seat 1 while ensuring the support strength and stability.

[0023] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A five-axis robot structure, characterized in that: It includes a fixed seat, three motor seats are arranged on the fixed seat, each motor seat is arranged on a servo motor, the output shaft of each servo motor is connected to a swing arm, the end of each swing arm is rotatably connected to a connecting rod group, the ends of all the connecting rod groups are rotatably connected to the chassis together, a clamping power assembly and a rotating power assembly are arranged on the fixed seat, the clamping power assembly includes a clamping servo reducer and a clamping shaft arranged in the clamping servo reducer, the rotating power assembly includes a rotating servo reducer and a rotating shaft arranged in the rotating servo reducer, the clamping shaft is embedded in the rotating shaft through a ball bearing, and the clamping The tightening shaft is connected to the clamping long shaft through an upper universal coupling, and the clamping long shaft is connected to the clamping short shaft through a lower universal coupling, a synchronous wheel is arranged at the lower end of the clamping short shaft, the rotating shaft is connected to an upper universal seat, the upper universal seat is connected to an upper universal joint, the upper universal joint is connected to the rotating long shaft, a lower universal joint is arranged at the bottom of the rotating long shaft, the lower universal joint is connected to a lower universal seat, the lower universal seat is arranged on a rotating disk, the rotating disk is rotatably connected to the chassis, the rotating long shaft is sleeved on the clamping long shaft, the clamping short shaft is rotatably connected to the rotating disk through a ball bearing, and the swing arm and connecting rod group are made of carbon fiber.

2. A five-axis robot structure according to claim 1, characterized in that: The connecting rod group includes two connecting rods, and the two ends of each connecting rod are rotatably connected to the swing arm and the chassis through a pin shaft.

3. A five-axis robot structure according to claim 1, characterized in that: A top cover is arranged on the top of the clamping shaft.

4. A five-axis robot structure according to claim 1, characterized in that: The shape of the fixing seat is Y-shaped.

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