Swing arm robot

Abstract

The utility model discloses a swing arm robot which comprises a moving shaft, a swing arm shaft arranged at the moving end of the moving shaft, a lifting shaft arranged at the output end of the swing arm shaft and a rotating shaft arranged at the output end of the lifting shaft, and the moving shaft drives the swing arm shaft to move in the linear direction. The swing arm shaft drives the lifting shaft to rotate around the rotating center of the swing arm shaft, and the lifting shaft drives the rotating shaft to move up and down in a lifting mode. Movement in the linear direction is provided through the moving shaft, the moving shaft is matched with the swing arm range of the swing arm shaft, so that the moving requirements of all point positions in a plane interval are met, meanwhile, the position of the rotating shaft in the Z-axis direction is movably adjusted in combination with the lifting shaft, and the position of the rotating shaft is adjusted in cooperation with rotation of the rotating shaft. In this way, the moving requirement of the swing arm robot for all point positions in the three-dimensional space is met, and the swing arm robot can adapt to material taking and placing work on different industries and different production lines.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially, relates to a swing arm robot. BACKGROUND

[0002] Industrial robot is the modern manufacturing industry important automation equipment of the set mechanical, electronic, control, computer, sensor, artificial intelligence etc. Multidisciplinary advanced technology in one. Widely adopt industrial robot, not only can improve the quality and output of product, and to guarantee personal safety, improve the labor environment, reduce the labor intensity, improve the labor productivity, save raw material consumption to reduce the production cost, have very important significance.

[0003] In the production line's operation environment, need a kind of along production line covering operation space big industrial robot, in prior art's liquid supply robot exists following shortcoming: mechanical arm adopts joint type structure, covering space is not reasonable, cannot satisfy the action demand of production line.

[0004] Therefore, prior art has defects, needs improvement. INVENTION CONTENTS

[0005] The utility model aims at overcoming prior art's insufficient, provide a swing arm robot.

[0006] The technical scheme of the utility model is as follows: provide a swing arm robot, include: moving shaft, set up on the movement end of the moving shaft's swing arm shaft, set up on the output end of the swing arm shaft's lifting shaft, and set up on the output end of the lifting shaft's rotating shaft, the moving shaft drives swing arm shaft to move along straight line direction, the swing arm shaft drives lifting shaft to rotate around the rotation center of swing arm shaft, the lifting shaft drives rotating shaft to move up and down.

[0007] Further, the moving shaft adopts linear motor or linear motion module, and the swing arm shaft is arranged on the movement end of the linear motor or linear motion module.

[0008] Further, the swing arm shaft includes: a mounting seat arranged on the output end of the moving shaft, a servo motor arranged on the mounting seat, a first harmonic reducer connected with the output end of the servo motor, and a swing arm connecting rod connected with the output end of the first harmonic reducer, one end of the swing arm connecting rod is connected with the output end of the first harmonic reducer, and the other end is connected with the lifting shaft.

[0009] Further, the lifting shaft adopts an electric cylinder, the main body part of the electric cylinder is connected with the output end of the swing arm shaft, and the output end of the electric cylinder is connected with the rotating shaft.

[0010] Further, the rotating shaft comprises a mounting plate connected with the output end of the lifting shaft, a stepping motor arranged on the mounting plate, and a second harmonic reducer connected with the output end of the stepping motor.

[0011] Further, an inductive sheet is connected with the output shaft of the stepping motor, and an optical sensor is arranged beside the stepping motor, and the inductive sheet passes through the detection range of the optical sensor with the rotation of the output shaft of the stepping motor.

[0012] By the above scheme, the moving shaft is provided for moving in a straight line direction, and the moving range of the swing arm shaft is matched, so that the moving requirement of each point in the plane interval is met, and meanwhile, the position of the rotating shaft in the Z-axis direction is adjusted by the lifting shaft, and the rotating shaft is rotated, so that the moving requirement of each point in the three-dimensional space is met, and the swing arm robot can adapt to the material taking and placing work in different industries and different production lines. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a structural schematic view of the utility model.

[0014] Figure 2 It is a structural schematic view of the swing arm shaft.

[0015] Figure 3 It is a sectional view of the swing arm shaft.

[0016] Figure 4 It is a structural schematic view of the rotating shaft. DETAILED DESCRIPTION

[0017] The utility model will be explained in detail in combination with the drawings and specific embodiments.

[0018] Please refer to Figure 1 The utility model provides a swing arm robot, include: moving shaft 1, set up in the moving shaft 1's motion end on swing arm shaft 2, set up in swing arm shaft 2's output end on lifting shaft 3 and set up in lifting shaft 3's output end on rotating shaft 4, moving shaft 1 drives swing arm shaft 2 to move along the straight line direction, swing arm shaft 2 drives lifting shaft 3 to rotate around the rotation center of swing arm shaft 2, lifting shaft 3 drives rotating shaft 4 to move up and down.

[0019] When the swing arm robot is used to execute a work command, movement in a straight line is provided by the movement shaft 1, and the swing arm range of the swing arm shaft 2 is matched, so as to meet the movement requirements of each point in the plane interval, and meanwhile, the position of the rotating shaft 4 in the Z-axis direction is adjusted by the lifting shaft 3, and the rotating shaft 4 is matched to rotate, so as to realize the movement requirements of the swing arm robot to each point in the three-dimensional space, so that the swing arm robot can adapt to the material taking and placing work on different production lines in different industries. Compared with the traditional fixed base robot, the swing arm robot provided by the utility model has smaller movement dead angle of the work point, can meet the movement requirements in a certain space, and can realize various process applications such as product assembly, material handling and point glue welding by loading various clamps on the output end of the rotating shaft 4.

[0020] In some embodiments, the movement shaft 1 adopts a linear motor or a linear motion module, and the swing arm shaft 2 is arranged on the movement end of the linear motor or the linear motion module.

[0021] The linear motor is a device for directly converting electrical energy into linear motion mechanical energy without any intermediate conversion mechanism, and its advantages include simple structure, high control precision, fast corresponding speed, high acceleration and smooth operation, so as to meet the linear driving requirements of the movement shaft 1 and provide stable linear movement.

[0022] The linear motion module is a set of various mechanical parts that can realize loading, transmission, precise positioning and other functions, and its advantages include accurate positioning, compact structure, smooth movement, fast movement speed, high repeatable positioning accuracy, small space occupation and long service life, and can meet the setting and use requirements in a smaller space.

[0023] In some optional embodiments, two groups of movement shafts 1 can be arranged in parallel, and one or two groups of movement shafts 1 can be arranged on the movement end, and the upper and lower movement shafts 1 are arranged along the X-axis and Y-axis directions respectively, so as to realize multi-axis movement and further expand the movable range of the robot.

[0024] In some embodiments, please refer to Figure 2 、 Figure 3 , the swing arm shaft 2 comprises: a mounting seat 21 arranged on the output end of the movement shaft 1, a servo motor 22 arranged on the mounting seat 21, a first harmonic reducer 23 connected with the output end of the servo motor 22, and a swing arm connecting rod 24 connected with the output end of the first harmonic reducer 23, one end of the swing arm connecting rod 24 is connected with the output end of the first harmonic reducer 23, and the other end is connected with the lifting shaft 3.

[0025] The servo motor 22 is a high-precision motor that can convert an input voltage signal into a mechanical angular displacement speed output on the motor shaft, has precise control capabilities, can quickly respond to control signals, realizes fast start and stop, and has accurate positioning, flexibility, and stable performance under various load changes, meeting the use requirements of robots in response to various processing conditions.

[0026] The first harmonic reducer 23 connected to the servo motor 22 is a precise gear reduction device that utilizes the principle of harmonic transmission, has characteristics such as high precision, high torque, high rigidity, and high reliability, can provide precise motion control and high torque output, and realizes driving of the swing arm connecting rod 24, meeting the swing arm movement requirements of the robot under different load conditions.

[0027] In some embodiments, the lifting shaft 3 adopts an electric cylinder, the main body part of the electric cylinder is connected to the output end of the swing arm shaft 2, and the output end of the electric cylinder is connected to the rotating shaft 4. The electric cylinder is a device that converts electrical energy into mechanical energy, drives a screw through a motor to convert rotary motion into linear motion, and realizes pushing, pulling, or lifting of an object, thereby meeting the requirements of driving the rotating shaft 4 to lift.

[0028] In some embodiments, referring to Figure 4 , the rotating shaft 4 includes a mounting plate 41 connected to the output end of the lifting shaft 3, a stepping motor 42 arranged on the mounting plate 41, and a second harmonic reducer 43 connected to the output end of the stepping motor 42. In operation, various types of clamps are connected to the output end of the second harmonic reducer 43, and the driving of the stepping motor 42 is transmitted to the clamps through the second harmonic reducer 43 to control the rotation of the clamps. The stepping motor 42 is an electric motor that converts electrical pulse signals into angular displacement or linear displacement, can realize precise control, and is connected to various types of clamps as the output shaft of the robot, which can effectively meet the control accuracy of different types of clamps corresponding to different work, thereby realizing corresponding action output. At the same time, the output of the stepping motor 42 is adjusted by the second harmonic reducer 43 to provide high torque output, meet the driving requirements under heavy load conditions, and realize the driving of various types of clamps by the robot.

[0029] In some embodiments, the output shaft of the stepper motor 42 is connected with an inductive sheet 44, and a photoelectric sensor 45 is arranged beside the stepper motor 42, and the inductive sheet 44 passes through the detection interval of the photoelectric sensor 45 with the rotation of the output shaft of the stepper motor 42. When the inductive sheet 44 moves to the detection interval of the photoelectric sensor 45, the level of the output of the photoelectric sensor 45 changes, and the system can determine the position of the inductive sheet 44 after detecting the change of the output of the photoelectric sensor 45. By arranging the inductive sheet 44 and the photoelectric sensor 45, the output of the rotating shaft 4 and the rotation angle of the clamping fixture driven by the rotating shaft 4 can be determined, and the accuracy requirement of the output control of the robot is met.

[0030] In summary, the utility model discloses the movement in linear direction is provided by moving shaft, and the swing arm range of swing arm shaft is cooperated, thereby meet the movement demand of each point position in plane interval, simultaneously, the position of rotating shaft in Z axle direction is moved adjustment in combination with lifting shaft, and cooperate the rotation of rotating shaft, and this realizes the movement demand of each point position in three -dimensional space of swing arm robot, and makes swing arm robot can adapt to different industry, different production line's taking and placing material work.

[0031] The above is only the preferred embodiment of the utility model, and is not used for limiting the utility model, and any modification, equivalent replacement and improvement etc. that are made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A swing arm robot characterized by, The application relates to a rotary mechanism, which comprises a moving shaft, a swing arm shaft arranged on the moving end of the moving shaft, a lifting shaft arranged on the output end of the swing arm shaft, and a rotating shaft arranged on the output end of the lifting shaft, the moving shaft drives the swing arm shaft to move along a straight line direction, the swing arm shaft drives the lifting shaft to rotate around the rotation center of the swing arm shaft, and the lifting shaft drives the rotating shaft to move up and down. The moving shaft adopts a linear motor or a linear motion module, and the swing arm shaft is arranged on the moving end of the linear motor or the linear motion module.

2. The swing arm robot of claim 1, wherein, The swing arm shaft comprises a mounting base arranged on the output end of the moving shaft, a servo motor arranged on the mounting base, a first harmonic reducer connected with the output end of the servo motor, and a swing arm connecting rod connected with the output end of the first harmonic reducer, one end of the swing arm connecting rod is connected with the output end of the first harmonic reducer, and the other end is connected with the lifting shaft.

3. The swing arm robot of claim 1, wherein, The lifting shaft adopts an electric cylinder, the main body part of the electric cylinder is connected with the output end of the swing arm shaft, and the output end of the electric cylinder is connected with the rotating shaft.

4. The swing arm robot of claim 1, wherein, The rotating shaft comprises a mounting plate connected with the output end of the lifting shaft, a stepping motor arranged on the mounting plate, and a second harmonic reducer connected with the output end of the stepping motor.

5. The swing arm robot of claim 1, wherein, An induction sheet is connected on the output shaft of the stepping motor, a photoelectric sensor is arranged on the side of the stepping motor, and the induction sheet passes through the detection interval of the photoelectric sensor with the rotation of the output shaft of the stepping motor.

6. The swing arm robot of claim 5, wherein, ​

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