Multi-shaft material taking manipulator

Abstract

The utility model relates to the technical field of mechanical arm design, in particular to a multi-shaft material taking mechanical arm. Comprising a first moving module, a second moving module mounted on the first moving module and used for moving in a first horizontal preset direction under the driving of the first moving module, and a third moving module mounted on the second moving module and used for moving in a second horizontal preset direction under the driving of the second moving module. The third moving module is used for moving in a second horizontal preset direction under the driving of the second moving module, the fourth moving module is mounted on the third moving module and is used for vertically ascending and descending under the driving of the third moving module, and the fourth moving module is mounted on the fourth moving module and is used for vertically ascending and descending under the driving of the third moving module. The fifth moving module is used for vertically swinging under the driving of the fourth moving module, the sixth moving module is mounted on the fifth moving module and is used for rotating along an output shaft of the fifth moving module under the driving of the fifth moving module, and the sixth moving module is mounted on the sixth moving module and is used for rotating along an output shaft of the fifth moving module under the driving of the sixth moving module. And the grabbing module rotates along an output shaft of the sixth moving module.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm design technology, and in particular to a multi-axis material handling robotic arm. Background Technology

[0002] In automated equipment, a fundamental and common process is the picking, placing, and moving of materials. Generally, the picking, placing, and moving of materials is accomplished by a robotic arm. The robotic arm has multiple degrees of freedom of movement in multiple directions. After fixing the materials by gripping or adsorbing them with the picking head, the materials are automatically moved and transferred between different workstations.

[0003] In actual production processes, the stroke and direction of the material handling robot are fixed, resulting in low applicability and unsuitability for industrial applications.

[0004] Therefore, it is necessary to propose a technical means to solve the above-mentioned defects. Utility Model Content

[0005] The present invention adopts the following technical solution:

[0006] A multi-axis material handling robot includes a first moving module, a second moving module mounted on the first moving module for moving in a first horizontal preset direction under the drive of the first moving module, a third moving module mounted on the second moving module for moving in a second horizontal preset direction under the drive of the second moving module, a fourth moving module mounted on the third moving module for vertical lifting under the drive of the third moving module, a fifth moving module mounted on the fourth moving module for vertical swinging under the drive of the fourth moving module, a sixth moving module mounted on the fifth moving module for rotating along the output shaft of the fifth moving module under the drive of the fifth moving module, and a gripping module mounted on the sixth moving module for rotating along the output shaft of the sixth moving module under the drive of the sixth moving module.

[0007] Preferably, the first moving module is a linear module for driving the second moving module to move along the X-axis.

[0008] Preferably, the second moving module includes a moving seat connected to the first moving module for moving in the first horizontal preset direction under the drive of the first moving module; a first slider and a second slider installed in the moving seat and movable along the Y-axis within the moving seat; and a first cylinder and a second cylinder installed on the side of the moving seat and connected to the first slider and the second slider respectively, for correspondingly driving the first slider and the second slider to move along the Y-axis within the moving seat; the third module is provided in two sets, with the two sets of third moving modules respectively installed on the first slider and the second slider, for moving along the Y-axis under the drive of the first slider and the second slider.

[0009] Preferably, the third moving module is a telescopic cylinder used to drive the fourth moving module to move vertically up and down.

[0010] Preferably, the fourth moving module includes a first connecting seat connected to the output end of the third moving module for vertical lifting under the drive of the third moving module, a first motor mounted on the first connecting seat, and a swing arm connected to the first motor for vertical swinging under the drive of the first motor; the fifth driving module is connected to the free end of the swing arm for vertical swinging with the swing arm.

[0011] Preferably, the fifth moving module includes a second motor connected to the fourth moving module; the sixth moving module is connected to the second motor and is used to rotate under the drive of the second motor.

[0012] Preferably, the sixth moving module includes a second connecting seat connected to the fifth moving module and a third motor mounted on the second connecting seat; the material gripping module is connected to the third motor and is used to rotate under the drive of the third motor.

[0013] Preferably, the material gripping module includes a third connecting seat connected to the sixth moving module and a quick-change suction head installed on the third connecting seat for picking up the object to be transferred.

[0014] The multi-axis material handling robot of this utility model, through the setting of a first moving module, a second moving module, a third moving module, a fourth moving module, a fifth moving module and a sixth moving module, can effectively adjust the position of the material handling module, with high degree of freedom, and is suitable for industrial applications. Attached Figure Description

[0015] Figure 1 This is an overall schematic diagram of the first angle of a multi-axis material handling robot according to the present invention;

[0016] Figure 2This is an overall schematic diagram of the second angle of a multi-axis material handling robot according to the present invention. Detailed Implementation

[0017] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Please see Figure 1 and Figure 2 A multi-axis material handling robot includes a first moving module 10, a second moving module 20 mounted on the first moving module 10 for moving in a first horizontal preset direction under the drive of the first moving module 10, a third moving module 30 mounted on the second moving module 20 for moving in a second horizontal preset direction under the drive of the second moving module 20, a fourth moving module 40 mounted on the third moving module 30 for vertical lifting under the drive of the third moving module 30, a fifth moving module 50 mounted on the fourth moving module 40 for vertical swinging under the drive of the fourth moving module 40, a sixth moving module 60 mounted on the fifth moving module 50 for rotating along the output shaft of the fifth moving module 50 under the drive of the fifth moving module 50, and a gripping module mounted on the sixth moving module 60 for rotating along the output shaft of the sixth moving module 60 under the drive of the sixth moving module 60.

[0021] In this embodiment, by setting up the first moving module 10, the second moving module 20, the third moving module 30, the fourth moving module 40, the fifth moving module 50 and the sixth moving module 60, the position of the material gripping module can be effectively adjusted, with a high degree of freedom, which is suitable for industrial applications.

[0022] In one specific embodiment, the first moving module 10 is a linear module for driving the second moving module 20 to move along the X-axis. Specifically, in this embodiment, the first horizontal preset direction is the X-axis direction.

[0023] In one specific embodiment, the second moving module 20 includes a moving base 201 connected to the first moving module 10 and used to move in a first horizontal preset direction under the drive of the first moving module 10; a first slider and a second slider installed in the moving base 201 and movable along the Y-axis within the moving base 201; and a first cylinder 202 and a second cylinder installed on the side of the moving base 201 and connected to the first slider and the second slider, respectively, for correspondingly driving the first slider and the second slider to move along the Y-axis within the moving base 201. The third module has two sets, with each set of third moving modules 30 correspondingly installed on the first slider and the second slider, for moving along the Y-axis under the drive of the first slider and the second slider. In this embodiment, the second horizontal preset direction is the Y-axis direction, which is perpendicular to the X-axis direction of the first horizontal preset direction, thereby providing multiple movement paths for the third moving module 30. In addition, by driving the first slider and the second slider to move by the first cylinder 202 and the second cylinder respectively, the third, fourth, fifth and sixth moving modules 60 connected to them can be driven to move independently, thereby controlling the two material gripping modules separately and improving the material picking efficiency.

[0024] In one specific embodiment, the third moving module 30 is a telescopic cylinder 301 for driving the fourth moving module 40 to move vertically up and down.

[0025] In one specific embodiment, the fourth moving module 40 includes a first connecting base 401 connected to the output end of the third moving module 30 for vertical lifting under the drive of the third moving module 30, a first motor 402 mounted on the first connecting base 401, and a swing arm 403 connected to the first motor 402 for vertical swinging under the drive of the first motor 402; a fifth driving module is connected to the free end of the swing arm 403 for vertical swinging with the swing arm 403.

[0026] In one specific embodiment, the fifth moving module 50 includes a second motor 501 connected to the fourth moving module 40; the sixth moving module 60 is connected to the second motor 501 and is used to rotate under the drive of the second motor 501. Specifically, the second motor 501 is connected to the free end of the swing arm 403.

[0027] In one specific embodiment, the sixth moving module 60 includes a second connecting seat 601 connected to the fifth moving module 50 and a third motor 602 mounted on the second connecting seat 601; the material gripping module is connected to the third motor 602 and is used to rotate under the drive of the third motor 602. Specifically, the second connecting seat 601 is connected to the power output end of the second motor 501 and is used to rotate under the drive of the second motor 501; in this embodiment, the second motor 501 drives the second connecting seat 601 to rotate along the motor shaft of the second motor 501 on a first plane, and the third motor 602 drives the material gripping module to rotate along the motor shaft of the third motor 602 on a second plane. The first plane and the second plane are perpendicular to each other, so that the material gripping module can provide multiple material picking angles, thereby making the material gripping range wide.

[0028] In one specific embodiment, the material gripping module includes a third connecting seat 70 connected to the sixth moving module 60, and a quick-change suction head mounted on the third connecting seat 70 for picking up objects to be transferred. In this embodiment, the third connecting seat 70 is connected to the motor output shaft of the third motor 602, so as to drive the quick-change suction head (not shown in the figure) to rotate under the operation of the third motor 602.

[0029] The multi-axis material handling robot of this utility model, through the arrangement of a first moving module 10, a second moving module 20, a third moving module 30, a fourth moving module 40, a fifth moving module 50 and a sixth moving module 60, can effectively adjust the position of the material handling module, with high degree of freedom, and is suitable for industrial applications.

[0030] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A multi-axis pick-and-place robot, characterized by: The device comprises a first moving module, a second moving module installed on the first moving module and moving in a first horizontal preset direction under the drive of the first moving module, a third moving module installed on the second moving module and moving in a second horizontal preset direction under the drive of the second moving module, a fourth moving module installed on the third moving module and vertically lifting under the drive of the third moving module, a fifth moving module installed on the fourth moving module and vertically swinging under the drive of the fourth moving module, a sixth moving module installed on the fifth moving module and rotating along the output shaft of the fifth moving module under the drive of the fifth moving module, and a grabbing module installed on the sixth moving module and rotating along the output shaft of the sixth moving module under the drive of the sixth moving module.

2. The multi-axis pick-and-place robot of claim 1, wherein: The first moving module is a linear module for driving the second moving module to move along the X axis.

3. The multi-axis pick-and-place robot of claim 1, wherein: The second moving module comprises a moving seat connected with the first moving module and moving in the first horizontal preset direction under the drive of the first moving module, a first slider and a second slider installed in the moving seat and moving along the Y axis in the moving seat, a first cylinder and a second cylinder installed on the side of the moving seat and connected with the first slider and the second slider respectively for correspondingly driving the first slider and the second slider to move along the Y axis in the moving seat; the third moving module is provided with two groups, and the two groups of the third moving module are correspondingly installed on the first slider and the second slider for moving along the Y axis under the drive of the first slider and the second slider.

4. The multi-axis pick-and-place robot of claim 1, wherein: The third moving module is a telescopic cylinder for driving the fourth moving module to vertically lift.

5. The multi-axis pick-and-place robot of claim 1, wherein: The fourth moving module comprises a first connecting seat connected with the output end of the third moving module and vertically lifting under the drive of the third moving module, a first motor installed on the first connecting seat, and a swinging arm connected with the first motor and vertically swinging under the drive of the first motor. The fifth moving module is connected with the free end of the swinging arm and vertically swings with the swinging arm.

6. The multi-axis pick-and-place robot of claim 1, wherein: The fifth moving module comprises a second motor connected with the fourth moving module; the sixth moving module is connected with the second motor and rotates under the drive of the second motor.

7. The multi-axis pick-and-place robot of claim 1, wherein: The sixth moving module comprises a second connecting seat connected with the fifth moving module, and a third motor installed on the second connecting seat; the grabbing module is connected with the third motor and rotates under the drive of the third motor.

8. The multi-axis pick-and-place robot of claim 1, wherein: The grabbing module comprises a third connecting seat connected with the sixth moving module, and a quick-change suction head installed on the third connecting seat for sucking the objects to be moved.

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