Lifting and conveying two-axis mechanical arm and robot

Abstract

The utility model relates to the technical field of robots, in particular to a lifting and conveying two-shaft mechanical arm and a robotic.The lifting and conveying two-shaft mechanical arm comprises a base, the upper portion of the base is connected with a first four-bar mechanism, and the first four-bar mechanism is connected with a second four-bar mechanism through a connecting frame; a tool connecting plate is arranged at the end, away from the first four-bar mechanism, of the second four-bar mechanism, and a first shaft driving swing arm and a second shaft driving swing arm are arranged in the first four-bar mechanism and the second four-bar mechanism correspondingly. The first four-bar mechanism and the second four-bar mechanism are matched with each other to achieve multi-path movement of the tool connecting plate, the structure is stable and reliable, and control is convenient.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a lifting and conveying two-axis robotic arm and robot. Background Technology

[0002] While existing multi-axis robots can achieve multi-degree-of-freedom motion control, their structural and maintenance costs are high. Inexpensive multi-axis robotic arms have limited lifespan and load capacity, making them unsuitable for highly repetitive object lifting and conveying actions, and their repeatability and positioning accuracy are limited. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a lifting and conveying two-axis robotic arm that, by employing a first four-bar linkage and a second four-bar linkage in cooperation, can realize multi-path movement of the tooling connecting plate, thus solving the problem of limited service life and load capacity of existing multi-axis robotic arms.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a lifting and conveying two-axis robotic arm, including a base, a first four-bar linkage connected to the upper part of the base, a second four-bar linkage connected to the first four-bar linkage through a connecting frame, a tooling connecting plate provided at the end of the second four-bar linkage away from the first four-bar linkage, and a first axis driving swing arm and a second axis driving swing arm respectively provided in the first four-bar linkage and the second four-bar linkage.

[0005] To further optimize this technical solution, the connecting frame is provided with a bottom connecting beam and a side connecting column. The side connecting column is vertically set on the upper part of the bottom connecting beam. The bottom connecting beam is connected to the first four-bar linkage, and one side of the side connecting column is connected to the second four-bar linkage.

[0006] To further optimize this technical solution, the first four-bar linkage also includes a first-axis motor and a first swing arm. The first-axis motor is fixed in the base, and the output shaft end of the first-axis motor is connected to one end of the first-axis drive swing arm. The other end of the first-axis drive swing arm is hinged to the bottom connecting beam. One end of the first swing arm is hinged to the base, and the other end is hinged to the bottom connecting beam. The length directions of the first swing arm and the first-axis drive swing arm are parallel to each other.

[0007] To further optimize this technical solution, a hinge seat is fixed in the base, one end of the first swing arm is hinged to the base through the hinge seat, and limit rollers are rotatably connected to both sides of the hinge seat. The two sets of limit rollers are respectively set in the swing path of the first swing arm, and the output shaft end of the first axis motor is connected to the first axis drive swing arm through the first reducer.

[0008] To further optimize this technical solution, the second four-bar linkage also includes a second-axis motor, a second swing arm, and a support arm. The second-axis motor is fixed in the connecting frame, and the output shaft end of the second-axis motor is connected to one end of the second-axis drive swing arm. The other end of the second-axis drive swing arm is hinged to one side of the support arm. The two ends of the second swing arm are respectively hinged to the side connecting column and the support arm. The second swing arm and the second-axis drive swing arm are parallel to each other in the length direction. One end of the support arm is fixed to the tooling connecting plate.

[0009] To further optimize this technical solution, the power output end of the second shaft motor is connected to the second shaft drive swing arm via a second reducer, and a reinforcing plate is connected between the side connecting column and the bottom connecting beam.

[0010] This utility model also provides a lifting and conveying two-axis robot, including a control system, including the lifting and conveying two-axis robotic arm of the above claims, a base set in the robot's frame, a functional actuator connected in the tooling connection plate, a first axis motor and a second axis motor respectively being servo motors, and the first axis motor and the second axis motor being electrically connected to the control system respectively.

[0011] Compared with the prior art, this utility model has the following advantages: 1. The first four-bar linkage and the second four-bar linkage cooperate to realize multi-path movement of the tooling connecting plate, with a stable and reliable structure and convenient control; 2. In the first four-bar linkage, the first axis motor drives the first axis drive swing arm and the first swing rod to drive the connecting frame to realize controllable back-and-forth swinging, and the second four-bar linkage swings back and forth with the connecting frame; 3. In the second four-bar linkage, the second axis motor drives the second axis drive swing arm to realize controllable up-and-down lifting movement of the bearing arm and the tooling connecting plate, and the first four-bar linkage and the second four-bar linkage cooperate to realize multi-path movement of the tooling connecting plate 3; 4. The control system controls the first axis motor and the second axis motor to realize precise closed-loop motion control, and the tooling connecting plate can realize different functions such as conveying and clamping by connecting different actuators; 5. It has the characteristics of small and lightweight body, high repeatability, strong load-bearing capacity, low control difficulty, and safe and reliable structure. Attached Figure Description

[0012] Figure 1 A schematic diagram of a two-axis robotic arm for lifting and conveying;

[0013] Figure 2 This is a schematic diagram of a structure for lifting and transmitting the other side of a two-axis robotic arm.

[0014] In the diagram: 1. Base; 101. Hinge seat; 102. Limiting roller; 11. First axis drive swing arm; 12. First axis motor; 120. First reducer; 13. First swing rod; 2. Connecting frame; 201. Bottom connecting beam; 202. Side connecting column; 203. Reinforcing plate; 21. Second axis drive swing arm; 22. Second axis motor; 221. Second reducer; 23. Second swing rod; 24. Bearing arm; 3. Tooling connecting plate. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that these descriptions are exemplary only and are not intended to limit the scope of this utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of this utility model.

[0016] It should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" used in this application to indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings. They are used solely for the convenience of describing this disclosure and for 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. Therefore, they should not be construed as limitations on this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Example 1

[0017] Combination Figures 1 to 2 As shown, a lifting and conveying two-axis robotic arm includes a base 1. A first four-bar linkage is connected to the upper part of the base 1. The first four-bar linkage is connected to a second four-bar linkage via a connecting frame 2. A tooling connecting plate 3 is provided at the end of the second four-bar linkage away from the first four-bar linkage. The connecting frame 2 includes a bottom connecting beam 201 and a side connecting column 202. The side connecting column 202 is vertically arranged above the bottom connecting beam 201. The bottom connecting beam 201 is connected to the first four-bar linkage, and one side of the side connecting column 202 is connected to the second four-bar linkage.

[0018] Specifically, the first four-bar linkage and the second four-bar linkage are respectively provided with a first axis drive swing arm 11 and a second axis drive swing arm 21. The first four-bar linkage also includes a first axis motor 12 and a first swing arm 13. The first axis motor 12 is fixed in the base 1, and the output shaft end of the first axis motor 12 is connected to one end of the first axis drive swing arm 11. The other end of the first axis drive swing arm 11 is hinged to the bottom connecting beam 201. One end of the first swing arm 13 is hinged to the base 1, and the other end is hinged to the bottom connecting beam 201. The length directions of the first swing arm 13 and the first axis drive swing arm 11 are parallel to each other.

[0019] A hinge seat 101 is fixed in the base 1. One bottom end of the first swing arm 13 is hinged to the base 1 via the hinge seat 101. Limiting rollers 102 are rotatably connected to both sides of the hinge seat 101. Two sets of limiting rollers 102 are respectively arranged in the swing path of the first swing arm 13. In this embodiment, two rollers are arranged side by side in the front set of limiting rollers 102, which can provide stronger limiting overload capacity. The output shaft end of the first axis motor 12 is connected to the first axis drive swing arm 11 through a first reducer 120. In use, the limiting rollers 102 limit the forward and backward swing amplitude of the first swing arm 13 and the first axis drive swing arm 11 to avoid the risk of loss of control.

[0020] The second four-bar linkage also includes a second-axis motor 22, a second swing arm 23, and a support arm 24. The second-axis motor 22 is fixed in the connecting frame 2. The output shaft of the second-axis motor 22 is connected to one end of the second-axis drive swing arm 21. The other end of the second-axis drive swing arm 21 is hinged to one side of the support arm 24. The two ends of the second swing arm 23 are respectively hinged to the side connecting column 202 and the support arm 24. The second swing arm 23 and the second-axis drive swing arm 21 are parallel in length. One end of the support arm 24 is fixed to the tooling connecting plate 3. The power output end of the second-axis motor 22 is connected to the second-axis drive swing arm 21 through a second reducer 221. A reinforcing plate 203 is connected between the side connecting column 202 and the bottom connecting beam 201.

[0021] When using, combine Figures 1 to 2 As shown, in the first four-bar linkage, the first-axis motor 12 drives the first-axis drive swing arm 11 and the first swing rod 13 to drive the connecting frame 2 to achieve controllable back-and-forth swinging. The second four-bar linkage can swing back and forth with the connecting frame 2. In the second four-bar linkage, the second-axis motor 22 drives the second-axis drive swing arm 21 to drive the bearing arm 24 and the tooling connecting plate 3 to achieve controllable up-and-down lifting movement. The first and second four-bar linkages cooperate to achieve multi-path movement of the tooling connecting plate 3. Example 2

[0022] A lifting and conveying two-axis robot includes a control system and the lifting and conveying two-axis robotic arm described in Embodiment 1 above. The control system includes at least a servo control unit. The base 1 is set in the robot's frame. A functional actuator is connected to the tooling connection plate 3. The first axis motor 12 and the second axis motor 22 are servo motors, respectively. The first axis motor 12 and the second axis motor 22 are electrically connected to the control system.

[0023] In use, the control system controls the first axis motor 12 and the second axis motor 22 to achieve precise closed-loop motion control. The tooling connection plate 3 can achieve different functions such as conveying, handling, and gripping by connecting different actuators. The lifting and conveying two-axis robot in this embodiment is characterized by its small and lightweight body, high repeatability, strong load-bearing capacity, low control difficulty, and safe and reliable structure. The rated load-bearing capacity of a single unit can reach 50KG, making it especially suitable for conveying heavy items.

[0024] It should be understood that the specific embodiments described above are merely illustrative or explanatory of the principles of this utility model and do not constitute a limitation thereof. Therefore, any modifications, equivalent substitutions, improvements, etc., made without departing from the spirit and scope of this utility model should be included within its protection scope. Furthermore, the appended claims are intended to cover all variations and modifications falling within the scope and boundaries of the appended claims, or equivalent forms of such scope and boundaries.

[0025] Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

Claims

1. A lifting and conveying two-axis robotic arm, comprising a base (1), characterized in that: The upper part of the base (1) is connected to a first four-bar linkage. The first four-bar linkage is connected to a second four-bar linkage via a connecting frame (2). The end of the second four-bar linkage away from the first four-bar linkage is provided with a tooling connecting plate (3). The first four-bar linkage and the second four-bar linkage are respectively provided with a first shaft drive swing arm (11) and a second shaft drive swing arm (21).

2. The lifting and conveying two-axis robotic arm according to claim 1, characterized in that: The connecting frame (2) is provided with a bottom connecting beam (201) and a side connecting column (202). The side connecting column (202) is vertically arranged on the upper part of the bottom connecting beam (201). The bottom connecting beam (201) is connected to the first four-bar linkage, and one side of the side connecting column (202) is connected to the second four-bar linkage.

3. The lifting and conveying two-axis robotic arm according to claim 2, characterized in that: The first four-bar linkage further includes a first shaft motor (12) and a first swing arm (13). The first shaft motor (12) is fixed in the base (1). The output shaft end of the first shaft motor (12) is connected to one end of the first shaft drive swing arm (11). The other end of the first shaft drive swing arm (11) is hinged to the bottom connecting beam (201). One end of the first swing arm (13) is hinged to the base (1), and the other end is hinged to the bottom connecting beam (201). The length directions of the first swing arm (13) and the first shaft drive swing arm (11) are parallel to each other.

4. The lifting and conveying two-axis robotic arm according to claim 3, characterized in that: A hinge seat (101) is fixed in the base (1). One end of the first swing rod (13) is hinged to the base (1) through the hinge seat (101). Limiting rollers (102) are rotatably connected to both sides of the hinge seat (101). The two sets of limiting rollers (102) are respectively arranged in the swing path of the first swing rod (13). The output shaft end of the first shaft motor (12) is connected to the first shaft drive swing arm (11) through a first reducer (120).

5. A two-axis lifting and conveying robotic arm according to claim 3, characterized in that: The second four-bar linkage also includes a second shaft motor (22), a second swing arm (23), and a support arm (24). The second shaft motor (22) is fixed in the connecting frame (2). The output shaft end of the second shaft motor (22) is connected to one end of the second shaft drive swing arm (21). The other end of the second shaft drive swing arm (21) is hinged to one side of the support arm (24). The two ends of the second swing arm (23) are respectively hinged to the side connecting column (202) and the support arm (24). The second swing arm (23) and the second shaft drive swing arm (21) are parallel to each other in the length direction. One end of the support arm (24) is fixed to the tooling connecting plate (3).

6. A two-axis lifting and conveying robotic arm according to claim 5, characterized in that: The power output end of the second shaft motor (22) is connected to the second shaft drive swing arm (21) through a second reducer (221), and a reinforcing plate (203) is connected between the side connecting column (202) and the bottom connecting beam (201).

7. A two-axis lifting and conveying robot, comprising a control system, characterized in that: The lifting and conveying two-axis robotic arm as described in claim 5 above, wherein the base (1) is set in the robot frame, and a functional actuator is connected in the tooling connecting plate (3), wherein the first axis motor (12) and the second axis motor (22) are servo motors respectively, and the first axis motor (12) and the second axis motor (22) are electrically connected to the control system respectively.

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