Five-axis servo manipulator

Abstract

The utility model relates to the field of manipulators, and discloses a five-axis servo manipulator which comprises a transverse axis, a longitudinal axis and a longitudinal axis, the manipulator base is mounted on the transverse shaft and is arranged to move on the transverse shaft; the longitudinal shaft is mounted on the manipulator base; a main arm shaft mounted on the wale shaft and configured to move on the wale shaft; and an auxiliary arm shaft installed on the wale shaft and configured to move on the wale shaft. According to the mechanical arm, through the design of the rotatable connecting base and the rotating base, the grabbing arm can flexibly rotate on the horizontal plane, the direction of the arm can be adjusted in real time according to specific grabbing requirements, the flexibility and adaptability of the mechanical arm are remarkably improved, and the mechanical arm can be adjusted by adjusting the position of the adjusting plate in the moving groove. And the clamping size of the clamping plate can be flexibly changed, so that the manipulator can be suitable for objects with different sizes.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of mechanical hand, especially five axis servo mechanical hand. BACKGROUND

[0002] Five axis servo mechanical hand is mainly composed of mechanical structure part and control system, and the mechanical structure part includes mechanical handset, walking mechanism and mechanical arm etc.

[0003] The setting direction of the existing five axis servo mechanical hand's grabbing arm is relatively fixed, which limits the flexibility and adaptability of the mechanical hand, makes it difficult to adjust in real time according to the specific grabbing demand, and the length of the grabbing arm is also fixed, which further limits the grabbing capacity of the mechanical hand to different size target objects, can only be applied to the objects in a specific size range, and it is difficult to effectively grab the objects beyond this range. INVENTION CONTENTS

[0004] To solve the problems proposed above, the utility model realizes through the following technical schemes:

[0005] A five axis servo mechanical hand, comprising: a horizontal shaft; a mechanical hand base installed on the horizontal shaft and arranged to move on the horizontal shaft; a vertical shaft installed on the mechanical hand base; a main arm shaft installed on the vertical shaft and arranged to move on the vertical shaft; and a secondary arm shaft installed on the vertical shaft and arranged to move on the vertical shaft.

[0006] The main arm shaft comprises: a connecting seat connected to the main arm shaft; a rotating seat connected to the bottom of the connecting seat and arranged to rotate at the bottom of the connecting seat; two clamping plates arranged on the rotating seat and arranged to rotate on the rotating seat for clamping materials; and two adjusting plates respectively connected to the two clamping plates and arranged to move on the clamping plates for adjusting the clamping size of the clamping plates.

[0007] The connecting seat comprises: a groove opened in the bottom of the connecting seat; and a power source installed in the groove, wherein the power shaft of the power source is connected to the rotating seat, and the power source is used to provide power for the rotating seat.

[0008] The rotating seat comprises: a control groove opened in the rotating seat; and two rotating arms connected in the control groove and arranged symmetrically, wherein the two clamping plates are respectively installed on the two rotating arms.

[0009] The rotating seat comprises: two drivers installed in the control groove, wherein the two rotating arms are respectively connected to the two drivers, and the drivers are used to provide power for the rotating arms.

[0010] The clamping plate comprises a moving groove opened on one side of the clamping plate, and the adjusting plate is connected in the moving groove.

[0011] The clamping plate further comprises a lead screw, one end of which is connected to the inner wall of the moving groove and the other end of which is connected to the adjusting plate; a first bevel gear installed on the lead screw; a second bevel gear arranged in the moving groove and engaged with the first bevel gear; a connecting rod, one end of which is connected to the second bevel gear and the other end of which penetrates through the moving groove and extends to the outside of the clamping plate; and a knob installed on the connecting rod.

[0012] The auxiliary arm shaft comprises an end effector installed at the end of the auxiliary arm shaft.

[0013] Further comprising a base, and the horizontal shaft is installed on the base.

[0014] The utility model provides a five -axis servo mechanical hand, compared with prior art has the following beneficial effects:

[0015] 1. By designing the rotatable connecting seat and rotating seat structure, the grabbing arm can rotate flexibly on the horizontal plane, so that the direction of the arm can be adjusted in real time according to the specific grabbing requirement, the flexibility and adaptability of the mechanical hand are significantly improved, different direction and angle grabbing tasks can be easily coped with, and the working range and grabbing capacity are greatly widened.

[0016] 2. By adjusting the position of the adjusting plate in the moving groove, the clamping size of the clamping plate can be flexibly changed, so that the mechanical hand can be suitable for objects of different sizes, and the universality and adaptability of the grabbing capacity are enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The utility model provides a three -dimensional structure schematic diagram.

[0018] Figure 2 Another perspective three -dimensional structure schematic diagram is provided for the utility model.

[0019] Figure 3 The connecting seat, rotating seat, clamping plate and adjusting plate structure schematic diagram are provided for the utility model.

[0020] Figure 4 The connecting seat, rotating seat, clamping plate and adjusting plate cross section structure schematic diagram are provided for the utility model.

[0021] Figure 5 The clamping plate, adjusting plate, lead screw and knob cross section structure schematic diagram are provided for the utility model.

[0022] The reference signs in the drawings are:

[0023] 1. Base;

[0024] 2. horizontal axis;

[0025] 3. robot base;

[0026] 4. vertical axis;

[0027] 5. main arm axis; 501, connecting seat; 502, rotating seat; 503, rotating arm; 504, driver; 505, clamping plate; 506, adjusting plate; 507, power source; 508, screw rod; 509, first bevel gear; 510, second bevel gear; 511, knob;

[0028] 6. sub-arm axis; 601, end effector. DETAILED DESCRIPTION

[0029] The utility model will be further explained in combination with specific embodiments, and it should be understood that these embodiments are only used for explaining the utility model and are not used for limiting the protection scope of the utility model.

[0030] The embodiments of the utility model are explained below through specific examples, and the person skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in the specification. The utility model can also be implemented or applied through other different specific embodiments, and each detail in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model.

[0031] Reference Figures 1-5The utility model provides a five -axis servo manipulator, include: horizontal axis 2, responsible for whole manipulator's movement on the horizontal plane to operate between different positions, manipulator base 3 is installed on horizontal axis 2 is arranged on horizontal axis 2 moves as the support structure of whole manipulator, ensures the stability and reliability of manipulator, it also provides the basis for the installation of vertical axis 4, main arm axis 5 and vice arm axis 6, vertical axis 4 is installed on manipulator base 3, provides the ability of vertical movement for main arm axis 5 and vice arm axis 6, further expands the working range of manipulator, makes it can reach more complex spatial position, main arm axis 5 is installed on vertical axis 4 is arranged on vertical axis 4 moves as the main structure of clamping material, through its movement and rotation, can accurately position material to the required position, vice arm axis 6 is installed on vertical axis 4 is arranged on vertical axis 4 moves, although same installation is on vertical axis 4, but vice arm axis 6 can perform different tasks from main arm axis 5, such as auxiliary clamping, material handling etc., increase the diversity and functionality of manipulator, especially the end effector 601 of its end, can be replaced according to specific task to adapt to different working environment, main arm axis 5 includes: connecting seat 501 is connected on main arm axis 5 as the connecting structure between main arm axis 5 and rotating seat 502, ensures that rotating seat 502 can stably rotate on connecting seat 501, the recess and power source 507 in its inside provide the necessary power support for rotating seat 502, rotating seat 502 is connected at the bottom of connecting seat 501 is arranged to rotate at the bottom of connecting seat 501, realizes the rotation of clamping plate 505 on the horizontal plane through the control of two rotating arms 503 and driver 504 in the slot, can flexibly adjust the direction and angle of material, two clamping plates 505 are arranged on rotating seat 502 are arranged to rotate on rotating seat 502 for clamping material, two adjusting plates 506 are connected on two clamping plates 505 respectively are arranged to move on clamping plate 505 for adjusting the clamping size of clamping plate 505 as the structure of directly clamping material, by moving to adjust the clamping size of clamping plate 505, so that manipulator can clamp different size material, increase the versatility and adaptability of manipulator.

[0032] Connecting seat 501 includes: recess, is set up in the bottom of connecting seat 501, recess provides mounting space for power source 507, power source 507 is installed in recess, the power shaft of power source 507 is connected with rotating seat 502, power source 507 is used to provide power for rotating seat 502, power source 507 adopts step motor, can also adopt servo motor.

[0033] The rotating seat 502 comprises a control groove opened on the rotating seat 502, two rotating arms 503 connected in the control groove and symmetrically arranged, two clamping plates 505 respectively mounted on the two rotating arms 503, and two drivers 504 mounted in the control groove, wherein the two rotating arms 503 are respectively connected with the two drivers 504, the driver 504 is used for providing power for the rotating arm 503, the control groove provides mounting space for the rotating arm 503 and the driver 504, and the driver 504 realizes flexible rotation of the clamping plate 505 on the horizontal plane by driving the rotation of the rotating arm 503.

[0034] The clamping plate 505 comprises a moving groove opened on one side of the clamping plate 505, an adjusting plate 506 connected in the moving groove, a lead screw 508 connected at one end with the inner wall of the moving groove and connected at the other end with the adjusting plate 506, a first bevel gear 509 mounted on the lead screw 508, a second bevel gear 510 arranged in the moving groove and engaged with the first bevel gear 509, a connecting rod connected at one end with the second bevel gear 510 and extended at the other end through the moving groove and to the outside of the clamping plate 505, and a knob 511 mounted on the connecting rod, wherein the second bevel gear 510 on the connecting rod is driven to rotate by rotation of the knob 511, the lead screw 508 on the first bevel gear 509 is driven to rotate by the second bevel gear 510, and the position of the adjusting plate 506 in the moving groove can be adjusted by the lead screw 508, so as to change the clamping size of the clamping plate 505.

[0035] The sub-arm shaft 6 comprises an end effector 601 mounted at the end of the sub-arm shaft 6, which is an execution mechanism at the end of the sub-arm shaft 6 and can be replaced or adjusted according to specific tasks to adapt to different working environments and material types.

[0036] The base 1 is provided with the horizontal shaft 2, which is used as a support base of the whole manipulator, ensures the stability and reliability of the manipulator, and provides a basis for installation of the horizontal shaft 2, so that the manipulator can move stably on the horizontal plane.

[0037] In use, the robot first initializes, checks the working state of each axis and its driving system, ensures that everything is normal, selects the appropriate end effector 601 according to the specific task, installs it at the end of the sub-arm shaft 6, and confirms that the clamping size of the clamping plate 505 has been adjusted according to the size of the material to be clamped. According to the operation instruction, the robot base 3 moves on the transverse shaft 2, so that the robot base 3 and the longitudinal shaft 4, the main arm shaft 5 and the sub-arm shaft 6 on it move to the vicinity of the target position. This step ensures that the robot can start working at the correct horizontal position. After the robot base 3 reaches the target horizontal position, the main arm shaft 5 and the sub-arm shaft 6 start to move on the longitudinal shaft 4, and further adjust the position of the main arm shaft 5 and the sub-arm shaft 6 in the vertical direction according to the instruction. After the main arm shaft 5 moves to the specified position on the longitudinal shaft 4, it starts to perform the task of clamping the material. The power source 507 on the connecting seat 501 starts to rotate, which drives the clamping plate 505 and the adjusting plate 506 on the rotating seat 502 to rotate in a certain direction, so as to adjust the clamping direction. The driver 504 drives the rotating arm 503 and the clamping plate 505 to rotate, so as to realize the flexible rotation of the clamping plate 505 on the horizontal plane, so as to accurately align the material. The operator adjusts the clamping size of the clamping plate 505 by rotating the knob 511. Through the rotation of the knob 511, the second bevel gear 510 on the connecting rod is driven to rotate, which drives the lead screw 508 on the first bevel gear 509 to rotate. The lead screw 508 can adjust the position of the adjusting plate 506 in the moving groove, so as to change the clamping size of the clamping plate 505, so as to ensure that the clamping plate 505 can firmly clamp the material. Once the clamping plate 505 clamps the material, the main arm shaft 5 transports the material to the target position through rotation and movement. While the main arm shaft 5 performs the task of clamping and transporting, the sub-arm shaft 6 can perform auxiliary operations as needed, such as auxiliary clamping, material transportation, etc. The end effector 601 at the end of the sub-arm shaft 6 is replaced or adjusted according to the task requirements, so as to adapt to different working environments and material types. After the main arm shaft 5 transports the material to the target position, the clamping plate 505 releases the material, completing the positioning and placement of the material. If necessary, the sub-arm shaft 6 can also perform corresponding auxiliary operations at this time, such as adjusting the position of the material, fixing the material, etc. After completing the material transportation task, the robot axes return to the initial position or standby position, waiting for the next operation instruction. During the waiting period, the robot can perform self-checking and maintenance to ensure that it is in the best working state at any time.

[0038] Compared with the prior art, the present application has the following advantages:

[0039] By designing the rotatable connecting seat 501 and rotating seat 502 structure, the grabbing arm can rotate flexibly on the horizontal plane, so as to adjust the direction of the arm in real time according to the specific grabbing requirements, significantly improving the flexibility and adaptability of the robot, and easily coping with grabbing tasks of different directions and angles, greatly widening its working range and grabbing capacity.

[0040] By adjusting the position of the adjusting plate 506 in the moving groove, the clamping size of the clamping plate 505 can be flexibly changed, so that the mechanical hand can be suitable for objects of different sizes, and the universality and adaptability of the grabbing capacity are enhanced.

[0041] Thus, although the present application has been described herein with reference to the specific embodiments thereof, many modifications, alterations and changes in the use thereof will become apparent to the skilled in the art without departing from the scope and spirit of the application, and it is understood that some features of the present application will be used without corresponding use of other features. Therefore, many modifications can be made to adapt a particular environment or material to the general scope and spirit of the present application. The present application is not intended to be limited to the specific terms used in the following claims and / or the specific embodiments disclosed as the best mode contemplated for carrying out the present application, but the present application will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the present application will only be determined by the appended claims.

Claims

1. A five-axis servo manipulator, characterized in that: include: horizontal axis (2); A manipulator base (3) is mounted on the transverse axis (2) and is configured to move on the transverse axis (2); A longitudinal axis (4) is mounted on the manipulator base (3); a main arm shaft (5), mounted on the longitudinal shaft (4) and configured to move on the longitudinal shaft (4); A jib shaft (6) mounted on the longitudinal shaft (4) and configured to move on the longitudinal shaft (4); The main arm shaft (5) comprises: A connecting seat (501) connected to the main arm shaft (5); A rotating seat (502) is connected to the bottom of the connecting seat (501) and is configured to rotate at the bottom of the connecting seat (501); Two clamping plates (505) are arranged on the rotating base (502) and are arranged to rotate on the rotating base (502) for clamping materials; The two adjustment plates (506) are respectively connected to the two clamping plates (505) and are arranged to move on the clamping plates (505) for adjusting the clamping size of the clamping plates (505).

2. A five-axis servo manipulator according to claim 1, characterized in that: The connecting seat (501) comprises: A groove is provided at the bottom of the connecting seat (501); A power source (507) is installed in the groove, a power shaft of the power source (507) is connected to the rotating seat (502), and the power source (507) is used to provide power for the rotating seat (502).

3. The five-axis servo manipulator according to claim 1, characterized in that: The rotating seat (502) includes: A control groove is provided on the rotating seat (502); The two rotating arms (503) are connected in the control slot and are symmetrically arranged. The two clamping plates (505) are respectively installed on the two rotating arms (503).

4. A five-axis servo manipulator according to claim 3, characterized in that: The rotating seat (502) further includes: Two drivers (504) are installed in the control slot, and the two rotating arms (503) are respectively connected to the two drivers (504). The drivers (504) are used to provide power for the rotating arms (503).

5. The five-axis servo manipulator according to claim 1, characterized in that: The clamping plate (505) comprises: The movable groove is provided on one side of the clamping plate (505), and the regulating plate (506) is connected in the movable groove.

6. The five-axis servo manipulator according to claim 5, characterized in that: The clamping plate (505) further comprises: a screw rod (508), one end of which is connected to the inner wall of the movable groove, and the other end of which is connected to the adjustment plate (506); A first bevel gear (509) is mounted on the screw rod (508); a second bevel gear (510), disposed in the movable groove and meshing with the first bevel gear (509); A connecting rod, one end of which is connected to the second bevel gear (510), and the other end of which passes through the movable slot and extends to the outside of the clamping plate (505); A knob (511) is mounted on the connecting rod.

7. The five-axis servo manipulator according to claim 1, characterized in that: The auxiliary arm shaft (6) comprises: The end effector (601) is mounted on the end of the auxiliary arm shaft (6).

8. The five-axis servo manipulator according to claim 1, characterized in that: Also includes: A base (1) is provided, wherein the transverse axis (2) is mounted on the base (1).

Images