Quickly-responsive four-axis machine spider hand

Abstract

The utility model discloses a quick response four-axis machine spider hand relates to the robot technical field, including mounting base, the bottom end of mounting base is fixed with three sets of motor base, one side of each set of motor base is equipped with a first motor below the mounting base, the output end of the first motor passes through the motor base and is connected with a big arm, and the big arm is connected with the motor base. The tail end of the large arm is connected with two sets of small arms through ball shafts, and the bottom ends of the two sets of small arms are connected with a movable platform through ball shafts. According to the mechanical spider arm, objects can be quickly picked, sorted, boxed, carried, machined and the like, the working efficiency of a factory production line is improved, meanwhile, the restraining assembly restrains a pipeline or a wire in butt joint with the movable platform, the time and manpower needed for manual disassembly and assembly of the pipeline or the wire are shortened, and the labor intensity of workers is lowered. And meanwhile, an overlong pipeline or wire can be wound and stored, so that the requirement for height replacement of the device is met, and the application range of the device is further widened.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a fast-response four-axis robot spider hand. Background Art

[0002] With the continuous improvement of the production automation level of enterprises, the intensive degree of production has been continuously strengthened. Newly built modern factories often integrate multiple production lines. The logistics relationship between production lines has become closer and more complex, and the requirements for the reliability, safety and automation of logistics and transportation systems have become higher and higher.

[0003] Delta robot, also known as parallel robot or spider robot, has three spatial degrees of freedom and one rotational degree of freedom. It captures the target object through visual programming or visual system, and determines the spatial position of the gripper center (TCP) by three parallel servo axes to achieve rapid picking, sorting, packing, handling, processing and other operations of the target object. It is mainly used in industries such as dairy, food, medicine and electronic products, and has the characteristics of light weight, small size, fast speed, precise positioning, low cost and high efficiency.

[0004] The inventor discovered that the moving platform in the robot spider hand needs to be equipped with a suction nozzle to achieve operations such as fast picking up and sorting of objects, while the pipe connecting the suction nozzle to the external negative pressure device is fixed to the surface of the robot spider by means of cable ties, which requires manual operation to fix the cable ties, and it is inconvenient to subsequently replace aging or damaged pipes. Similarly, if the height of the robot spider hand changes, the size of the original pipe cannot be met, and the pipe needs to be removed and replaced, resulting in limitations in the use of the robot spider hand. For this reason, a quick-response four-axis robot spider hand is proposed. Utility Model Content

[0005] Based on this, the purpose of the utility model is to provide a fast-response four-axis robot spider hand to solve the technical problems raised in the above background.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a fast-response four-axis robot spider hand, comprising a mounting seat, three groups of motor seats are fixed at the bottom end of the mounting seat, one side of each group of motor seats is located below the mounting seat and is equipped with a first motor, the output end of the first motor passes through the motor seat and is connected to a large arm, the end of the large arm is connected to two groups of small arms through a ball shaft, the bottom ends of the two groups of small arms are connected to a moving platform through a ball shaft, and a pair of constraint components are provided between the two groups of small arms;

[0007] The constraint assembly includes a positioning frame arranged between two groups of small arms, arc frames fixed to the outer walls of the small arms are provided on both sides of the positioning frame, a movable plate is slidably provided on the front surface of the positioning frame, a constraint disk is fixed at the center position in the positioning frame, a pair of elastic parts are fixed on both sides of the constraint disk, rubber strips are fixed to the inner curved arms of the pair of elastic parts, and a connecting arm is fixed between the pair of elastic parts.

[0008] As a preferred technical solution for a fast-response four-axis robot spider hand of the utility model, a second motor is installed in the top of the mounting seat, and the output end of the second motor passes through the bottom of the mounting seat and is connected to a central axis.

[0009] As an optimal technical solution for a fast-response four-axis robot spider hand of the utility model, the central axis is a telescopic tube structure, and the two ends of the central axis are connected to the output end of the second motor and the top of the moving platform through a universal coupling.

[0010] As a preferred technical solution for a fast-response four-axis robot spider hand of the utility model, a dovetail block is provided on one side of the movable plate close to the positioning frame, and a dovetail groove is provided at the contact position between the positioning frame and the dovetail block.

[0011] As an optimal technical solution for a fast-response four-axis robot spider arm of the utility model, a plurality of ear plates are fixed to the curved outer wall of the mounting seat, and threaded holes for bolting to the bracket are opened on the upper surface of the ear plates.

[0012] As a preferred technical solution for a fast-response four-axis robot spider arm of the utility model, the second motor and the multiple groups of first motors are all servo motors.

[0013] As a preferred technical solution for a fast-response four-axis robot spider hand of the utility model, the three groups of motor seats are distributed in a ring array at the bottom of the mounting base, and the intervals between the three groups of motor seats are 120 degrees.

[0014] In summary, the utility model mainly has the following beneficial effects:

[0015] The utility model can quickly pick up, sort, pack, carry and process objects through the robot spider arm, thereby improving the work efficiency of the factory production line. At the same time, the constraint component constrains the pipes or wires connected to the moving platform, simplifying the time and manpower required for manual disassembly and assembly. At the same time, the pipes or wires that are too long can be rolled up and stored, so as to meet the situation of changing the height of the device, further improving the scope of application of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional diagram of the utility model;

[0017] Figure 2 It is a structural diagram of the upper arm and the lower arm of the utility model;

[0018] Figure 3 This is a structural diagram of the forearm and the restraint assembly of the utility model;

[0019] Figure 4 It is an expanded view of the constraint component structure of the utility model;

[0020] Figure 5 This is a structural diagram of two groups of elastic members of the utility model.

[0021] In the figure: 100, mounting seat;

[0022] 110. Motor seat; 120. First motor; 130. Upper arm; 131. Lower arm; 140. Moving platform; 150. Middle axis; 160. Second motor; 170. Constraint assembly; 171. Positioning frame; 172. Arc frame; 173. Constraint disk; 174. Movable plate; 175. Rubber strip; 176. Elastic member; 177. Connecting arm. DETAILED DESCRIPTION

[0023] 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. The embodiments described below with reference to the drawings are exemplary and are only used to explain the utility model, and cannot be understood as limiting the utility model.

[0024] The following describes an embodiment of the utility model based on its overall structure.

[0025] A fast-response four-axis robotic spider hand, such as Figures 1 to 5 As shown, it includes a mounting base 100, three groups of motor bases 110 are fixed at the bottom end of the mounting base 100, and a first motor 120 is installed on one side of each group of motor bases 110 below the mounting base 100, and the output end of the first motor 120 passes through the motor base 110 and is connected to a large arm 130, and the end of the large arm 130 is connected to two groups of small arms 131 through a ball shaft, and the bottom ends of the two groups of small arms 131 are connected to a moving platform 140 through a ball shaft, and a pair of constraint components 170 are provided between the two groups of small arms 131;

[0026] The constraint assembly 170 includes a positioning frame 171 arranged between the two groups of small arms 131, and arc frames 172 fixed to the outer walls of the small arms 131 are provided on both sides of the positioning frame 171. A movable plate 174 is slidably provided on the front surface of the positioning frame 171. A constraint plate 173 is fixed at a center position in the positioning frame 171, and a pair of elastic members 176 are fixed on both sides of the constraint plate 173. A rubber strip 175 is fixed to the inner curved arm of the pair of elastic members 176, and a connecting arm 177 is fixed between the pair of elastic members 176.

[0027] A second motor 160 is installed in the top of the mounting seat 100, and the output end of the second motor 160 passes through the bottom of the mounting seat 100 and is connected to the central axis 150. The central axis 150 is a telescopic cylinder structure, and both ends of the central axis 150 are connected to the output end of the second motor 160 and the top of the moving platform 140 through a universal coupling.

[0028] The output ends of the multiple first motors 120 rotate, causing the multiple large arms 130 to swing forward or backward, so that the small arms 131 connected at the end can move the moving platform 140 in multiple directions. At the same time, the output end of the second motor 160 drives the central axis 150 to rotate, and finally cooperates with the suction cup connected below to complete the operations of picking up, sorting, packing, transporting and processing objects, thereby improving the work efficiency of the factory production line;

[0029] When the suction nozzle or other processing head is installed at the lower end of the movable platform 140, the wire or pipe can be placed in the positioning frame 171, and the connecting arm 177 is pulled away from the positioning frame 171, so that the elastic member 176 is opened and a gap is formed between the elastic member 176 and the positioning frame 171, so that the wire or pipe can enter. Then, the external force applied to the connecting arm 177 is removed, and the elastic member 176 recovers by its own elasticity, so that the rubber strip 175 squeezes the wire or pipe, and finally the fixing purpose is completed;

[0030] If the pipe or wire is long, the pipe or wire can be wound around the restraint disk 173, and then the wire or pipe can be fixed in the elastic member 176. This can restrain the wire or pipe. Similarly, the wire (pipe) can be further retracted or released according to the horizontal height of the device, making the device more applicable.

[0031] Please refer to Figure 4 A dovetail block is provided on one side of the movable plate 174 close to the positioning frame 171, and a dovetail groove is provided at the contact position between the positioning frame 171 and the dovetail block;

[0032] The movable plate 174 is inserted from top to bottom so that the dovetail block enters into the dovetail ICAO, thereby being fixed on the surface of the positioning frame 171 to complete the constraint of the wire or pipeline.

[0033] Please refer to Figure 1 A plurality of ear plates are fixed on the curved outer wall of the mounting seat 100, and threaded holes for fixing the ear plates to the brackets with bolts are provided on the upper surfaces of the ear plates.

[0034] The fixing method of the device is simple and convenient, and manual disassembly and assembly saves manpower and material resources.

[0035] Please refer to Figure 1 The second motor 160 and the plurality of first motors 120 are all servo motors.

[0036] The use of servo motors makes the transportation speed of the machine controllable to meet the needs of different users.

[0037] Please refer to Figure 1 The three groups of motor seats 110 are distributed in a ring array at the bottom of the mounting seat 100, and the intervals between the three groups of motor seats 110 are 120 degrees.

[0038] The spacing between the three groups of upper and lower arms is evenly distributed, ensuring stability during multi-angle processing or picking and sorting.

[0039] When in use, the output ends of the multiple first motors 120 rotate, causing the multiple large arms 130 to swing forward or backward, so that the small arms 131 connected at the end can make the moving platform 140 move in multiple directions. At the same time, the output end of the second motor 160 drives the central axis 150 to rotate, and finally cooperates with the suction cup connected below to complete the operations of picking up, sorting, packing, transporting and processing objects, thereby improving the work efficiency of the factory production line;

[0040] When the suction nozzle or other processing head is installed at the lower end of the movable platform 140, the wire or pipe can be placed in the positioning frame 171, and the connecting arm 177 is pulled away from the positioning frame 171, so that the elastic member 176 is opened and a gap is formed between the elastic member 176 and the positioning frame 171, so that the wire or pipe can enter. Then, the external force applied to the connecting arm 177 is removed, and the elastic member 176 recovers by its own elasticity, so that the rubber strip 175 squeezes the wire or pipe, and finally the fixing purpose is completed;

[0041] If the length of the pipeline or wire is long, the pipeline or wire can be wound around the restraint disk 173, and then the wire or pipeline can be fixed in the elastic member 176. In this way, the wire or pipeline can be restrained. Similarly, the wire (pipeline) can be continuously reeled in or released according to the horizontal height of the device, so that the application scope of the device is wider. The parts not involved in the device are the same as the prior art or can be implemented by the prior art.

[0042] Although an embodiment of the utility model has been shown and described, this specific embodiment is merely an explanation of the utility model and is not a limitation of the utility model. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the utility model. However, as long as they are within the scope of the claims of the utility model, they are protected by patent law.

Claims

1. A fast-response four-axis robot spider hand, comprising a mounting seat (100), three groups of motor seats (110) are fixed at the bottom end of the mounting seat (100), one side of each group of motor seats (110) is located below the mounting seat (100) and is equipped with a first motor (120), the output end of the first motor (120) passes through the motor seat (110) and is connected to a large arm (130), the end of the large arm (130) is connected to two groups of small arms (131) through a ball shaft, and the bottom ends of the two groups of small arms (131) are connected to a moving platform (140) through a ball shaft, characterized in that: A pair of restraining components (170) are provided between the two groups of small arms (131); The restraining assembly (170) comprises a positioning frame (171) arranged between two groups of small arms (131), arc frames (172) fixed to the outer walls of the small arms (131) are arranged on both sides of the positioning frame (171), a movable plate (174) is slidably arranged on the front surface of the positioning frame (171), a restraining plate (173) is fixed at a central position in the positioning frame (171), a pair of elastic members (176) are fixed on both sides of the restraining plate (173), a rubber strip (175) is fixed to the inner curved surface arms of the pair of elastic members (176), and a connecting arm (177) is fixed between the pair of elastic members (176).

2. A fast-response four-axis robotic spider hand according to claim 1, characterized in that: A second motor (160) is installed in the top end of the mounting seat (100), and an output end of the second motor (160) passes through the bottom of the mounting seat (100) and is connected to a central shaft (150).

3. A fast-response four-axis robotic spider hand according to claim 2, characterized in that: The central shaft (150) is a telescopic cylinder structure, and both ends of the central shaft (150) are connected to the output end of the second motor (160) and the top end of the moving platform (140) via a universal coupling.

4. The fast-response four-axis robotic spider hand according to claim 1, characterized in that: A dovetail block is provided on one side of the movable plate (174) close to the positioning frame (171), and a dovetail groove is provided at the contact position between the positioning frame (171) and the dovetail block.

5. The fast-response four-axis robotic spider hand according to claim 1, characterized in that: A plurality of ear plates are fixed on the curved outer wall of the mounting seat (100), and threaded holes for bolting to the bracket are provided on the upper surfaces of the ear plates.

6. A fast-response four-axis robotic spider hand according to claim 2, characterized in that: The second motor (160) and the plurality of first motors (120) are all servo motors.

7. The fast-response four-axis robotic spider hand according to claim 1, characterized in that: The three groups of motor seats (110) are distributed in a ring-shaped array at the bottom end of the mounting seat (100), and the intervals between the three groups of motor seats (110) are 120 degrees.

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