Six-degree-of-freedom deep-cavity material taking device

Abstract

The utility model discloses a six-degree-of-freedom deep-cavity material taking device which comprises a mechanical arm, a rotation driving structure, a deflection driving structure, a transverse telescopic structure, a longitudinal moving structure, a lifting structure and a pitching driving structure. The rotary driving structure is connected with the manipulator; the deflection driving structure is connected with the rotation driving structure; the transverse telescopic structure is connected with the deflection driving structure; the longitudinal moving structure is connected with the transverse telescopic structure; the lifting structure is connected with the longitudinal moving structure; and the pitching driving structure is connected with the lifting structure. The six-degree-of-freedom deep-cavity material taking device is simple in structure, six-axis driving of the mechanical arm can be achieved, and then the position and posture of the mechanical arm are flexibly adjusted so as to meet the requirements for material grabbing and carrying in a narrow deep-cavity space.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of industrial robots and automation equipment, and particularly provide a six degree of freedom deep cavity material taking device. BACKGROUND

[0002] With the development of manufacturing industry to intelligent and automation, the structure of some parts in mechanical equipment is more and more compact, and it is not easy to disassemble, and some deep cavity narrow space material taking operation is dangerous for workers, and some operation environment is not accessible, and the traditional material taking device is mostly suitable for the grabbing of open space material, and cannot realize deep cavity, narrow space material taking, therefore, developing a six degree of freedom material taking device suitable for deep cavity becomes a problem to be solved. CONTENT OF UTILITY MODEL

[0003] The utility model aims at providing a six degree of freedom deep cavity material taking device to solve the problem that the traditional material taking device is not suitable for deep cavity material taking.

[0004] In order to realize the above-mentioned purpose, the utility model provides a six degree of freedom deep cavity material taking device, including: manipulator, rotary drive structure, deflection drive structure, transverse telescopic structure, longitudinal movement structure, lifting structure and pitch drive structure, the rotary drive structure is connected with the manipulator, is used for driving the manipulator to make rotary motion, the deflection drive structure is connected with the rotary drive structure, is used for driving the rotary drive structure to make deflection motion, the transverse telescopic structure is connected with the deflection drive structure, is used for driving the deflection drive structure to make transverse motion, the longitudinal movement structure is connected with the transverse telescopic structure, is used for driving the transverse telescopic structure to make longitudinal motion, the lifting structure is connected with the longitudinal movement structure, is used for driving the longitudinal movement structure to lift, the pitch drive structure is connected with the lifting structure, is used for driving the lifting structure to make pitch motion.

[0005] Preferably, the manipulator comprises a fixed plate, a first motor, a first guide rail, a first sliding block and an execution terminal, wherein the first guide rail is installed on the fixed plate and is arranged transversely, the first sliding block is two and is installed on the first guide rail, the output end of the first motor is connected with a bidirectional screw rod, two threaded segments of the bidirectional screw rod are connected with two first sliding blocks one by one, are used for driving two first sliding blocks to approach or move away from each other on the first guide rail synchronously, and the execution terminal is two and is installed on two first sliding blocks respectively.

[0006] Further preferably, the manipulator further comprises two execution terminal locking pieces, and the two execution terminal locking pieces are installed on two first sliding blocks respectively and are used for locking the two execution terminals correspondingly.

[0007] Further preferably, the lateral telescopic structure comprises a housing and a telescopic shell slidingly installed in the housing, the deflection driving structure comprises a first electric cylinder, a first rack and a connecting shaft, the connecting shaft vertically penetrates and connects the end of the telescopic shell and the rotation driving structure, the outer periphery of the middle part of the connecting shaft is provided with a first gear, the first electric cylinder is fixedly installed in the telescopic shell, the first rack is connected with the output end of the first electric cylinder and is arranged laterally, and the first rack is engaged with the first gear, so as to drive the rotation driving structure to make deflection movement around the connecting shaft under the driving of the first electric cylinder.

[0008] Further preferably, a second electric cylinder is arranged in the housing, the output end of the second electric cylinder is connected with one end of the telescopic shell, and the telescopic shell is driven to make telescopic movement along the length direction of the housing under the driving of the second electric cylinder.

[0009] Further preferably, the longitudinal movement structure comprises a support plate, a second rack and a second motor, the support plate is slidingly installed above the lifting structure in the longitudinal direction, the second rack is fixedly installed above the lifting structure in the longitudinal direction, and the second motor is vertically installed on the support plate and is provided with a second gear on the output shaft, the second gear is engaged with the second rack, so as to drive the support plate to move in the longitudinal direction through the second rack.

[0010] Further preferably, the lifting structure comprises a first scissor beam, a second scissor beam, a top plate, a bottom plate and a third electric cylinder, the first scissor beam and the second scissor beam are cross-hinged and are opened and closed through the third electric cylinder, the first scissor beam and the second scissor beam each comprise a hinged end and a sliding end, the top plate is connected above the first scissor beam and the second scissor beam, the bottom plate is connected below the first scissor beam and the second scissor beam, the hinged end of the first scissor beam is hinged with the top plate, the sliding end of the first scissor beam is slidingly connected with the bottom plate, the hinged end of the second scissor beam is hinged with the bottom plate, and the sliding end of the second scissor beam is slidingly connected with the top plate.

[0011] Further preferably, the pitching driving structure comprises a moving bracket and a first lateral driving structure, the moving bracket is slidingly installed on the bottom plate in the lateral direction and is provided with a slide matching the sliding end of the first scissor beam, the slide is provided with a slope, so as to make the sliding end of the first scissor beam rise or fall under the action of the slide under the driving of the first lateral driving structure.

[0012] Further preferably, the first lateral driving structure comprises a fourth motor and a fourth rack, the fourth motor is mounted above the bottom plate through a support and a fourth gear is arranged on an output shaft of the fourth motor, the fourth rack is arranged laterally on the moving bracket and is engaged with the fourth gear, and the moving bracket moves laterally under the driving of the fourth motor.

[0013] Further preferably, the six-degree-of-freedom deep cavity material taking device further comprises a second lateral driving structure mounted between the lateral telescopic structure and the longitudinal moving structure, the second lateral driving structure comprises a third motor and a third rack, the third motor is fixedly mounted on the longitudinal moving structure and a third gear is mounted on an output shaft of the third motor, the third rack is fixedly mounted below the lateral telescopic structure along the lateral direction, and the third gear is engaged with the third rack for driving the lateral telescopic structure to move laterally on the longitudinal moving structure.

[0014] The six-degree-of-freedom deep cavity material taking device provided by the utility model can realize six-axis driving of the mechanical hand through the cooperative work of the deflection driving structure, the rotation driving structure, the lateral telescopic structure, the longitudinal moving structure, the lifting structure and the pitching driving structure, and further flexibly adjusts the position and posture of the mechanical hand to adapt to the material grabbing and carrying requirements in the deep cavity narrow space. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings:

[0016] Figure 1 The structure schematic view of the six-degree-of-freedom deep cavity material taking device provided by the utility model is shown in the figure.

[0017] Figure 2 The structure schematic view of the mechanical hand execution unit is shown in the figure.

[0018] Figure 3 The position view of the mechanical hand, the rotation driving structure, the deflection driving structure, the lateral telescopic structure and the longitudinal moving structure is shown in the figure.

[0019] Figure 4 The connection schematic view of the deflection driving structure, the rotation driving structure and the mechanical hand is shown in the figure.

[0020] Figure 5 The enlarged view of the longitudinal moving structure is shown in the figure.

[0021] Figure 6 The connection schematic view of the lifting structure and the pitching driving structure is shown in the figure. DETAILED DESCRIPTION

[0022] The utility model will be further explained in combination with specific implementation, but not limited to the utility model.

[0023] As Figures 1 to 6 The utility model provides a kind of six degrees of freedom deep cavity material taking device, comprising: manipulator 1, rotary drive structure 9, deflection drive structure 2, lateral telescopic structure 3, longitudinal movement structure 4, lifting structure 5 and pitch drive structure 6;The rotary drive structure 9 is connected with the manipulator 1, for driving the manipulator 1 does rotary motion;The deflection drive structure 2 is connected with the rotary drive structure 9, for driving the rotary drive structure 9 does deflection motion;The lateral telescopic structure 3 is connected with the deflection drive structure 2, for driving the deflection drive structure 2 does lateral motion;The longitudinal movement structure 4 is connected with the lateral telescopic structure 3, for driving the lateral telescopic structure 3 does longitudinal motion;The lifting structure 5 is connected with the longitudinal movement structure 4, for driving the longitudinal movement structure 4 lifts;The pitch drive structure 6 is connected with the lifting structure 5, for driving the lifting structure 5 does pitch motion.

[0024] The six degrees of freedom deep cavity material taking device, by the collaborative work of deflection drive structure, rotary drive structure, lateral telescopic structure, longitudinal movement structure, lifting structure and pitch drive structure six-axis driving of manipulator can be realized, and then the position and attitude of manipulator are flexibly adjusted, to adapt to the material grabbing and carrying demand in deep cavity narrow space.

[0025] As a technical solution improvement, as shown in Figure 2 The manipulator 1 includes fixed plate 101, first motor 102, first guide rail 103, first sliding block 104 and execution terminal 105, wherein the first guide rail 103 is installed on the fixed plate 101 and is transversely arranged, the first sliding block 104 is two and is installed on the first guide rail 103, the output end of the first motor 102 is connected with a bidirectional screw rod, the two threaded segments of the bidirectional screw rod are connected with the two first sliding blocks 104 one by one, for driving the two first sliding blocks 104 to approach or away from each other on the first guide rail 103 synchronously, the execution terminal 105 is two and is installed on the two first sliding blocks 104 respectively, and is opened and closed under the driving of the first sliding block, to realize the grabbing of material, wherein the execution terminal can be designed according to the structure of material to be taken, which is not limited, as shown in Figure 2 The execution terminal is "convex" structure, which is especially suitable for the material structure with two inner planes.

[0026] In order to ensure the stability of the execution terminal to grab material, as a technical solution improvement, as shown in Figure 2As shown, the mechanical arm 1 further comprises two execution terminal locking members 106, which are respectively installed on the two first sliders 104 and used for locking the two execution terminals 105, preferably, as shown in the figure, Figure 2 As shown, the execution terminal locking member 106 is preferably an optical axis clamp.

[0027] The rotation driving structure 9 can be a motor and a speed reducer structure, and an output shaft is connected with the mechanical arm and used for driving the mechanical arm to rotate.

[0028] As an improvement of the technical scheme, as shown in the figure, Figure 1 As shown, the lateral telescopic structure 3 comprises a shell 301 and a telescopic shell 302 slidingly installed in the shell 301, as shown in the figure, Figure 3 、 Figure 4 As shown, the deflection driving structure 2 comprises a first electric cylinder 201, a first rack 202 and a connecting shaft 203, the connecting shaft 203 vertically penetrates and connects the telescopic shell 302 and the end of the rotation driving structure 9, the outer periphery of the middle part of the connecting shaft 203 is provided with a first gear 2031, the first electric cylinder 201 is fixedly installed in the telescopic shell 302, the first rack 202 is connected with the output end of the first electric cylinder 201 and is laterally arranged, the first rack 202 is engaged with the first gear 2031, and the first rack 202 is used for driving the rotation driving structure 9 to make deflection movement around the connecting shaft 203 under the driving of the first electric cylinder 201, preferably, the telescopic shell is provided with a guide block matched with the first rack, which is used for limiting the movement direction of the first rack, and further preferably, as shown in the figure, Figure 3 As shown, the end of the rotation driving structure 9 is connected with a connecting member 901, and the connecting shaft vertically penetrates and connects the telescopic shell 302 and the connecting member 901.

[0029] As an improvement of the technical scheme, as shown in the figure, Figure 3 As shown, the shell 301 is provided with a second electric cylinder 303, the output end of the second electric cylinder 303 is connected with one end of the telescopic shell 302, and the second electric cylinder 303 is used for driving the telescopic shell 302 to make telescopic movement along the length direction of the shell 301, preferably, the shell 301 is fixedly provided with a lateral sliding block at intervals, the outer part of the telescopic shell 302 is provided with a sliding rail matched with the lateral sliding block, and the cooperation between the lateral sliding block and the sliding rail plays a guiding role in the telescopic movement of the telescopic shell 302.

[0030] As an improvement of the technical scheme, as shown in the figure, Figure 5As shown, the longitudinal movement structure 4 comprises a support plate 401, a second rack 402 and a second motor 403, wherein the support plate 401 is longitudinally slidingly installed above the lifting structure 5, the second rack 402 is longitudinally fixedly installed above the lifting structure 5, and the second motor 403 is vertically installed on the support plate 401 and has a second gear installed on its output shaft, which is engaged with the second rack 402 for driving the support plate 401 to move longitudinally by the second rack 402. Preferably, a longitudinal sliding block 405 is arranged below the support plate 401, and a longitudinal guide rail 404 is arranged above the lifting structure 5, and the longitudinal sliding block 405 and the longitudinal guide rail 404 guide the sliding of the support plate 401. Further preferably, the longitudinal movement structure 4 is installed on a support frame 8, and the support frame 8 is fixedly installed on the lifting structure 5.

[0031] As an improvement of the technical solution, as shown in Figure 6 As shown, the lifting structure 5 comprises a first scissor beam 501, a second scissor beam 502, a top plate 503, a bottom plate 504 and a third electric cylinder 505. The first scissor beam 501 and the second scissor beam 502 are cross-hinged and opened and closed by the third electric cylinder 505 to realize lifting. The first scissor beam 501 and the second scissor beam 502 each comprise a hinged end and a sliding end. The top plate 503 is connected above the first scissor beam 501 and the second scissor beam 502. The bottom plate 504 is connected below the first scissor beam 501 and the second scissor beam 502. The hinged end of the first scissor beam 501 is hinged to the top plate 503. The sliding end of the first scissor beam 501 is slidingly connected to the bottom plate 504. The hinged end of the second scissor beam 502 is hinged to the bottom plate 504. The sliding end of the second scissor beam 502 is slidingly connected to the top plate 503. Preferably, the bottom of the top plate 503 is provided with a sliding channel matched with the sliding end of the second scissor beam 502. The top of the bottom plate 504 is provided with a sliding channel matched with the sliding end of the first scissor beam 501.

[0032] As an improvement of the technical solution, as shown in Figure 6 As shown, the pitch driving structure 6 comprises a moving bracket 601 and a first transverse driving structure. The moving bracket 601 is transversely slidingly installed on the bottom plate 504 and is provided with a sliding channel matched with the sliding end of the first scissor beam 501. The sliding channel is provided with a slope A for driving the sliding end of the first scissor beam 501 to rise or fall under the action of the sliding channel under the driving of the first transverse driving structure, thereby adjusting the pitch angle of the mechanical arm.

[0033] As an improvement of the technical solution, as shown in Figure 6As shown, the first lateral driving structure comprises a fourth motor 6021 and a fourth rack 6022, the fourth motor 6021 is installed above the bottom plate 504 through a support 6023 and is provided with a fourth gear on the output shaft, and the fourth rack 6022 is transversely arranged on the moving bracket 601 and is engaged with the fourth gear, and the moving bracket 601 moves laterally under the drive of the fourth motor 6021.

[0034] As an improvement of the technical scheme, as shown in the drawings, Figure 3 As shown, the six-degree-of-freedom deep cavity taking device further comprises a second lateral driving structure 7 installed between the lateral telescopic structure 3 and the longitudinal moving structure 4, the second lateral driving structure comprises a third motor 701 and a third rack 702, the third motor 701 is fixedly installed on the longitudinal moving structure 4 and is provided with a third gear on the output shaft, the third rack 702 is fixedly installed below the lateral telescopic structure 3 along the lateral direction, the third gear is engaged with the third rack 702, and the lateral telescopic structure 3 is driven to move laterally on the longitudinal moving structure 4, wherein the movement of the lateral telescopic structure 3 is guided through the cooperation of the guide block 4011 installed on the support plate 401 and the lateral sliding rail 304 installed at the bottom of the lateral telescopic moving structure 3.

[0035] The specific embodiments of the utility model are written in a progressive manner, and the differences between various embodiments are emphasized, and the similar parts can be mutually referred.

[0036] The embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range possessed by those skilled in the art without departing from the purpose of the utility model.

Claims

1. A six degree of freedom deep cavity infeed device, characterized by, The mechanical arm (1), the rotation driving structure (9), the deflection driving structure (2), the transverse telescopic structure (3), the longitudinal movement structure (4), the lifting structure (5) and the pitching driving structure (6); the rotation driving structure (9) is connected with the mechanical arm (1) and used for driving the mechanical arm (1) to make a rotation movement; the deflection driving structure (2) is connected with the rotation driving structure (9) and used for driving the rotation driving structure (9) to make a deflection movement; the transverse telescopic structure (3) is connected with the deflection driving structure (2) and used for driving the deflection driving structure (2) to make a transverse movement; the longitudinal movement structure (4) is connected with the transverse telescopic structure (3) and used for driving the transverse telescopic structure (3) to make a longitudinal movement; the lifting structure (5) is connected with the longitudinal movement structure (4) and used for driving the longitudinal movement structure (4) to lift; and the pitching driving structure (6) is connected with the lifting structure (5) and used for driving the lifting structure (5) to make a pitching movement. The mechanical arm (1) comprises a fixed plate (101), a first motor (102), a first guide rail (103), a first sliding block (104) and an execution terminal (105), wherein the first guide rail (103) is transversely arranged on the fixed plate (101), the first sliding block (104) is two and is arranged on the first guide rail (103), the output end of the first motor (102) is connected with a bidirectional screw rod, the two threaded segments of the bidirectional screw rod are connected with the two first sliding blocks (104) one by one, and the two first sliding blocks (104) are driven to synchronously approach or move away from each other on the first guide rail (103), and the execution terminal (105) is two and is arranged on the two first sliding blocks (104) respectively.

2. The six degree of freedom deep cavity pick-up device according to claim 1, wherein: The mechanical arm (1) further comprises two execution terminal locking members (106), and the two execution terminal locking members (106) are arranged on the two first sliding blocks (104) respectively and used for locking the two execution terminals (105) correspondingly.

3. The six degree of freedom deep cavity pick-up device according to claim 2, wherein: The transverse telescopic structure (3) comprises an outer shell (301) and a telescopic shell (302) slidably arranged in the outer shell (301), the deflection driving structure (2) comprises a first electric cylinder (201), a first rack (202) and a connecting shaft (203), the connecting shaft (203) vertically penetrates and connects the end of the telescopic shell (302) and the rotation driving structure (9), the outer periphery of the middle part of the connecting shaft (203) is provided with a first gear (2031), the first electric cylinder (201) is fixedly arranged in the telescopic shell (302), the first rack (202) is transversely arranged and connected with the output end of the first electric cylinder (201), and the first rack (202) is engaged with the first gear (2031) and used for driving the rotation driving structure (9) to make a deflection movement around the connecting shaft (203) under the driving of the first electric cylinder (201).

4. The six degree of freedom deep cavity pick-up device according to claim 1, wherein: ​ 5. The six degree of freedom deep cavity pick-up device according to claim 4, wherein: A second electric cylinder (303) is arranged in the shell (301), and an output end of the second electric cylinder (303) is connected with one end of the telescopic shell (302), so as to drive the telescopic shell (302) to perform telescopic movement along the length direction of the shell (301).

6. The six degree of freedom deep cavity pick-up device according to claim 1, wherein: The longitudinal movement structure (4) comprises a support plate (401), a second rack (402) and a second motor (403), wherein the support plate (401) is slidably arranged above the lifting structure (5) in the longitudinal direction, the second rack (402) is fixedly arranged above the lifting structure (5) in the longitudinal direction, and the second motor (403) is vertically arranged on the support plate (401) and has a second gear mounted on an output shaft thereof, the second gear being engaged with the second rack (402) and used for driving the support plate (401) to move in the longitudinal direction through the second rack (402).

7. The six degree of freedom deep cavity pick-up device according to claim 1, wherein: The lifting structure (5) comprises a first scissor beam (501), a second scissor beam (502), a top plate (503), a bottom plate (504) and a third electric cylinder (505), the first scissor beam (501) and the second scissor beam (502) are crossly hinged and opened and closed through the third electric cylinder (505), the first scissor beam (501) and the second scissor beam (502) each comprise a hinged end and a sliding end, the top plate (503) is connected above the first scissor beam (501) and the second scissor beam (502), the bottom plate (504) is connected below the first scissor beam (501) and the second scissor beam (502), the hinged end of the first scissor beam (501) is hinged with the top plate (503), the sliding end of the first scissor beam (501) is slidably connected with the bottom plate (504), the hinged end of the second scissor beam (502) is hinged with the bottom plate (504), and the sliding end of the second scissor beam (502) is slidably connected with the top plate (503).

8. The six degree of freedom deep cavity pick-up device according to claim 7, wherein: The pitch driving structure (6) comprises a moving bracket (601) and a first transverse driving structure, the moving bracket (601) is slidably arranged on the bottom plate (504) in the transverse direction and is provided with a sliding channel matched with the sliding end of the first scissor beam (501), the sliding channel is provided with a slope, and the sliding end of the first scissor beam (501) is driven to rise or fall under the action of the sliding channel under the driving of the first transverse driving structure.

9. The six degree of freedom deep cavity pick-up device according to claim 8, wherein: The first transverse driving structure comprises a fourth motor (6021) and a fourth rack (6022), the fourth motor (6021) is arranged above the bottom plate (504) through a support (6023) and is provided with a fourth gear on an output shaft thereof, the fourth rack (6022) is arranged on the moving bracket (601) in the transverse direction and is engaged with the fourth gear, and the moving bracket (601) moves in the transverse direction under the driving of the fourth motor (6021).

10. The six degree of freedom deep cavity pick-up device according to claim 1, wherein: The second horizontal driving structure (7) is arranged between the horizontal telescopic structure (3) and the longitudinal moving structure (4), and comprises a third motor (701) and a third rack (702). The third motor (701) is fixedly arranged on the longitudinal moving structure (4), and a third gear is arranged on an output shaft of the third motor (701). The third rack (702) is fixedly arranged below the horizontal telescopic structure (3) in the horizontal direction. The third gear is engaged with the third rack (702), and is used for driving the horizontal telescopic structure (3) to move in the horizontal direction on the longitudinal moving structure (4).

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