Multi-axis linkage exoskeleton processing robot

Abstract

The utility model belongs to the technical field of exoskeleton machining, particularly relates to a multi-axis linkage exoskeleton machining robot, and aims to solve the problems that the adjustable range of an existing mechanical arm is small, the length is not easy to adjust, and fine parts are not convenient to weld. A rotary placement table is arranged at the top end of the mounting base, two fixing blocks are fixed to the top end of the rotary placement table, connecting rods are rotationally arranged between the close ends of the two fixing blocks, the same first shaft is fixed to the side ends of the two connecting rods, a second shaft is rotationally arranged at the side end of the first shaft, and a third shaft is rotationally arranged at the side end of the second shaft; an extension adjusting block is arranged on one side of the third shaft, and a laser welding head used for welding is arranged on one side of the extension adjusting block. And due to the multi-shaft linkage design, the robot can achieve all-directional and high-precision adjustment of the laser welding head in a three-dimensional space, and precise control over the machining process is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton processing, in particular to a multi-axis linkage exoskeleton processing robot. Background Art

[0002] In the field of artificial, an exoskeleton refers to a wearable robot device, also known as a "wearable robot" or a "power exoskeleton". This device can coordinate with the movements of the human body and provide additional power or capabilities for the human body through advanced technologies such as sensing, control, information coupling, and mobile computing, thereby enhancing the human body's functions.

[0003] In the prior art, when processing an exoskeleton, some parts of it need to be welded and fixed. In the prior art, most welding is carried out manually, and some use robotic arms for welding. However, the adjustable range of the existing robotic arms is small, and it is not easy to adjust the length, which is not convenient for welding relatively delicate parts. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the disadvantages that in the prior art, the adjustable range of the robotic arm is small, it is not easy to adjust the length, and it is not convenient for welding relatively delicate parts, and to propose a multi-axis linkage exoskeleton processing robot.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A multi-axis linkage exoskeleton processing robot, including a mounting base, a rotating placement table is provided at the top of the mounting base, two fixing blocks are fixed at the top of the rotating placement table, connecting rods are rotatably arranged between the end portions of the two fixing blocks close to each other, a first shaft is fixed to the side ends of the two connecting rods, a second shaft is rotatably arranged at the side end of the first shaft, and a third shaft is rotatably arranged at the side end of the second shaft;

[0007] Wherein, an extension adjustment block is provided on one side of the third shaft, a laser welding head for welding is provided on one side of the extension adjustment block, and a set of telescopic components is provided between the third shaft and the extension adjustment block, and the telescopic components are used to adjust the distance between the third shaft and the extension adjustment block;

[0008] A rotating component, which is arranged between the mounting base and the rotating placement table and is used to adjust the actual orientation of the laser welding head;

[0009] An angle adjustment component, which is arranged between the rotating placement table and the first shaft and is used to drive the first shaft to perform angle adjustment;

[0010] A bending component, which is arranged between the first shaft, the second shaft and the third shaft to further adjust the orientation angle of the laser welding head.

[0011] In a possible design, the rotating assembly includes a third groove formed in the mounting base. A rotating shaft rotates in the third groove. A worm gear is fixed to the surface of the rotating shaft. A worm that meshes with the worm gear rotates in the third groove. A third driving motor is fixed in the third groove. The third driving motor is fixedly connected to the worm through a coupling. The rotating shaft movably penetrates upward through the side end of the mounting base. The rotating placement table is fixed to the side end of the rotating shaft.

[0012] In a possible design, the angle adjustment assembly includes a second groove formed at the top end of the rotating placement table. A threaded block slides in the second groove. A second lead screw rotates in the second groove. The threaded block is threadedly connected to the surface of the second lead screw. A sliding rod is fixed in the threaded block. A chute is formed in each of the two connecting rods. The sliding rod slides in the two chutes. A second driving motor is fixed to the side end of the rotating placement table. The second driving motor is fixedly connected to the second lead screw through a coupling.

[0013] In a possible design, the bending assembly includes a first hydraulic cylinder rotatably connected to the side end of the first shaft through a hinge shaft. The output end of the first hydraulic cylinder is rotatably connected to the side end of the second shaft through a hinge shaft.

[0014] In a possible design, the bending assembly further includes a second hydraulic cylinder rotatably connected to the side end of the second shaft through a hinge shaft. The output end of the second hydraulic cylinder is rotatably connected to the side end of the third shaft through a hinge shaft.

[0015] In a possible design, the telescopic assembly includes a first groove formed in the third shaft. A slider slides in the first groove. A first lead screw rotates in the first groove. The slider is threadedly connected to the surface of the first lead screw. A first driving motor is fixed to the side end of the third shaft. The first driving motor is fixedly connected to the first lead screw through a coupling. A U-shaped frame is fixed to the side end of the extension adjustment block. The laser welding head is fixed in the U-shaped frame.

[0016] In this application, by starting the third driving motor to drive the worm to rotate, the worm drives the worm gear to rotate, the worm gear drives the rotating shaft to rotate, the rotating shaft drives the rotating placement table to rotate, and the rotating placement table drives the laser welding head to move in a direction. By starting the second driving motor to drive the second lead screw to rotate, the second lead screw drives the threaded block to move in position, the threaded block drives the sliding rod to move, and the sliding rod slides in the chute when moving. By flipping the connecting rod for position adjustment, the angle of the first shaft can be adjusted. By starting the first hydraulic cylinder and the second hydraulic cylinder to expand and contract, the second shaft and the third shaft can be bent, so that the laser welding head can be finely adjusted in angle. By starting the first driving motor to drive the first lead screw to rotate, the first lead screw drives the slider to move, and the distance between the third shaft and the extension adjustment block can be adjusted.

[0017] Beneficial effects

[0018] In the present utility model, for the multi-axis linkage exoskeleton processing robot, through the angle adjustment component, the effect of adjusting the angle of the laser welding head to the maximum extent can be achieved;

[0019] In the present utility model, for the multi-axis linkage exoskeleton processing robot, through the telescopic component, the effect of adjusting the length of the laser welding head can be achieved;

[0020] In the present utility model, through the multi-axis linkage design, the robot can achieve all-round and high-precision adjustment of the laser welding head in three-dimensional space, ensuring precise control of the processing process. The coordinated action of the rotation component, the angle adjustment component and the bending component enables the robot to flexibly meet the processing requirements of various complex exoskeleton structures. Description of the drawings

[0021] Figure 1 is the front perspective view of a multi-axis linkage exoskeleton processing robot proposed by the present utility model;

[0022] Figure 2 is a multi-axis linkage exoskeleton processing robot proposed by the present utility model Figure 1 is the enlarged partial view at A in;

[0023] Figure 3 is the first partial cross-sectional view of a multi-axis linkage exoskeleton processing robot proposed by the present utility model;

[0024] Figure 4 is the second partial cross-sectional view of a multi-axis linkage exoskeleton processing robot proposed by the present utility model. In the figure: 1, mounting seat; 2, rotating placement table; 3, first shaft; 4, second shaft; 5, third shaft; 6, extension adjustment block; 7, U-shaped frame; 8, laser welding head; 9, slider; 10, first hydraulic cylinder; 11, second hydraulic cylinder; 12, first driving motor; 13, first groove; 14, first lead screw; 15, fixing block; 16, connecting rod; 17, chute; 18, slide bar; 19, second groove; 20, second driving motor; 21, second lead screw; 22, threaded block; 23, third groove; 24, rotating shaft; 25, worm gear; 26, worm; 27, third driving motor. Detailed implementation manners

[0025] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0026] Embodiment 1

[0027] Refer toFigures 1 - 4 , a multi-axis linkage exoskeleton processing robot, which is applied in the field of exoskeleton processing technology. The mounting base 1 is firmly installed on the working platform, and the rotating mounting base 1 has a placing table 2;

[0028] At the top of the rotating placing table 2, two fixing blocks 15 are fixed by welding or bolts. The two fixing blocks 15 are arranged oppositely, and two connecting rods 16 are rotatably connected between their adjacent ends;

[0029] The side ends of the two connecting rods 16 are jointly fixed with a first shaft 3. The side end of the first shaft 3 is rotatably connected with a second shaft 4, and the side end of the second shaft 4 is further rotatably connected with a third shaft 5, forming a multi-stage rotating structure;

[0030] On one side of the third shaft 5, an extension adjustment block 6 is fixed, and a laser welding head 8 is installed on the extension adjustment block 6 for precise welding operations;

[0031] In order to adjust the distance between the third shaft 5 and the extension adjustment block 6, a set of telescopic components is arranged between them. The telescopic components are composed of a first groove 13 opened in the third shaft 5, a slider 9 sliding in the first groove 13, a first lead screw 14 rotating in the first groove 13, and a first driving motor 12 fixed on the side end of the third shaft 5. The first driving motor 12 drives the first lead screw 14 to rotate through a coupling, so that the slider 9 moves along the axial direction of the first lead screw 14, thereby realizing the adjustment of the distance;

[0032] The rotating component is arranged between the mounting base 1 and the rotating placing table 2. A third groove 23 is opened in the mounting base 1, and a rotating shaft 24 is rotatably installed in the groove. A worm gear 25 is fixed on the surface of the rotating shaft 24. A worm 26 meshing with the worm gear 25 is also rotated in the third groove 23. The worm 26 is connected with a third driving motor 27 fixed at the bottom of the third groove 23 through a coupling. When the third driving motor 27 is started, through the meshing action of the worm 26 and the worm gear 25, the rotating shaft 24 is driven to rotate, and then the rotating placing table 2 and the components thereon are driven to rotate as a whole, realizing the adjustment of the orientation of the laser welding head 8.

[0033] The angle adjustment component is arranged between the rotating placing table 2 and the first shaft 3. A second groove 19 is opened at the top of the rotating placing table 2. A threaded block 22 slides in the second groove. A sliding rod 18 is fixed in the threaded block 22. A second lead screw 21 is also rotated in the second groove 19. The threaded block 22 is threadedly connected to the second lead screw 21. One end of the second lead screw 21 is connected with a second driving motor 20 fixed on the side end of the rotating placing table 2 through a coupling. When the second driving motor 20 is started, the second lead screw 21 is driven to rotate, so that the threaded block 22 and the sliding rod 18 move along the axial direction of the second lead screw 21. Since the sliding rod 18 also slides in the sliding grooves 17 of the two connecting rods 16, the first shaft 3 and the subsequent components can be driven to perform angle adjustment.

[0034] Embodiment 2

[0035] Reference Figures 1 - 4 , on the basis of Embodiment 1, it is improved as follows: the bending assembly includes a first hydraulic cylinder 10 and a second hydraulic cylinder 11. The first hydraulic cylinder 10 is rotationally connected to the side end of the first shaft 3 through a hinge shaft, and its output end is rotationally connected to the side end of the second shaft 4 through a hinge shaft. The second hydraulic cylinder 11 is also rotationally connected to the side end of the second shaft 4 through a hinge shaft, and its output end is rotationally connected to the side end of the third shaft 5. By controlling the telescoping of the two hydraulic cylinders, the orientation angle of the laser welding head 8 can be further adjusted to meet more complex processing requirements.

[0036] However, as is well known to those skilled in the art, the working principles and wiring methods of the laser welding head 8, the first driving motor 12, the second driving motor 20, and the third driving motor 27 are common knowledge, and they all belong to conventional means or well-known common sense. Therefore, they will not be elaborated here. Those skilled in the art can make arbitrary selections according to their needs or convenience.

[0037] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and the inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A multi-axis linkage exoskeleton processing robot, characterized in that, Including: A mounting base (1), at the top of the mounting base (1) there is a rotating placement table (2), at the top of the rotating placement table (2) there are two fixed blocks (15) fixed, between the closer ends of the two fixed blocks (15) there is a connecting rod (16) rotatably arranged, on the side ends of the two connecting rods (16) there is a same first shaft (3) fixed, on the side end of the first shaft (3) there is a second shaft (4) rotatably arranged, and on the side end of the second shaft (4) there is a third shaft (5) rotatably arranged; Wherein, on one side of the third shaft (5) there is an extension adjustment block (6), on one side of the extension adjustment block (6) there is a laser welding head (8) for welding, between the third shaft (5) and the extension adjustment block (6) there is a set of telescopic components for adjusting the distance between the third shaft (5) and the extension adjustment block (6); A rotation component arranged between the mounting base (1) and the rotating placement table (2) for adjusting the actual orientation of the laser welding head (8); An angle adjustment component arranged between the rotating placement table (2) and the first shaft (3) for driving the first shaft (3) to perform angle adjustment; A bending component arranged between the first shaft (3), the second shaft (4) and the third shaft (5) for further adjusting the orientation angle of the laser welding head (8).

2. The multi-axis linkage exoskeleton processing robot according to claim 1, characterized in that The rotation component includes a third groove (23) opened in the mounting base (1), in the third groove (23) there is a rotating shaft (24) rotatably arranged, on the surface of the rotating shaft (24) there is a worm gear (25) fixed, in the third groove (23) there is a worm (26) rotatably arranged and meshing with the worm gear (25), in the third groove (23) there is a third driving motor (27) fixed, the third driving motor (27) is fixedly connected to the worm (26) through a coupling, the rotating shaft (24) movably penetrates upward through the side end of the mounting base (1), and the rotating placement table (2) is fixed to the side end of the rotating shaft (24).

3. The multi-axis linkage exoskeleton processing robot according to claim 2, wherein, The angle adjustment component includes a second groove (19) opened at the top of the rotating placement table (2), in the second groove (19) there is a threaded block (22) slidably arranged, in the second groove (19) there is a second lead screw (21) rotatably arranged, the threaded block (22) is threadedly connected to the surface of the second lead screw (21), in the threaded block (22) there is a sliding rod (18) fixed, in both of the two connecting rods (16) there are chutes (17) opened, the sliding rod (18) slides in the two chutes (17), on the side end of the rotating placement table (2) there is a second driving motor (20) fixed, and the second driving motor (20) is fixedly connected to the second lead screw (21) through a coupling.

4. The multi-axis linkage exoskeleton processing robot according to claim 3, wherein, The bending component includes a first hydraulic cylinder (10) rotatably arranged at the side end of the first shaft (3) through a hinge shaft, and the output end of the first hydraulic cylinder (10) is rotatably arranged at the side end of the second shaft (4) through a hinge shaft.

5. The multi-axis linkage exoskeleton machining robot according to claim 4, wherein, The bending component further includes a second hydraulic cylinder (11) rotatably arranged at the side end of the second shaft (4) through a hinge shaft, and the output end of the second hydraulic cylinder (11) is rotatably arranged at the side end of the third shaft (5) through a hinge shaft.

6. A multi-axis linkage exoskeleton machining robot according to any one of claims 1-4, characterized in that, The telescopic assembly includes a first groove (13) formed in the third shaft (5), a slider (9) slides in the first groove (13), an extension adjustment block (6) is fixed to the side end of the slider (9), a U-shaped frame (7) is fixed to the side end of the extension adjustment block (6), a laser welding head (8) is fixed in the U-shaped frame (7), a first lead screw (14) rotates in the first groove (13), the slider (9) is threadedly connected to the surface of the first lead screw (14), a first driving motor (12) is fixed to the side end of the third shaft (5), and the first driving motor (12) is fixedly connected to the first lead screw (14) through a coupling.

Images