Three-dimensional manipulator

Abstract

The utility model discloses a three-dimensional manipulator, which relates to the technical field of manipulators, and comprises a material taking mechanism and a movement mechanism, the material taking mechanism is connected with the movement mechanism, the material taking mechanism comprises a cross beam and a material taking hand assembly, the material taking hand assembly comprises a connecting rod, at least two positioning seats, at least two clamping fixing pieces and a plurality of clamping hands, the at least two positioning seats are mounted at the top of the cross beam, the at least two clamping and fixing parts and the at least two positioning seats are inserted in a one-to-one correspondence manner, the connecting rod is mounted on the at least two clamping and fixing parts, and the plurality of clamping hands are arranged on the connecting rod. According to the utility model, the connecting rod, the at least two positioning seats, the at least two clamping and fixing pieces and the plurality of clamping hands form the material taking hand assembly, and the material taking hand assembly only needs to be mounted at the top of the cross beam or dismounted from the top of the cross beam, so that the plurality of clamping hands can be mounted, dismounted and replaced; and the installation efficiency and the maintenance and disassembly efficiency are improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a three-dimensional robotic arm. Background Technology

[0002] A three-dimensional robotic arm is a conveying device adapted to large-tonnage punch presses to transfer sheet metal between multi-process dies.

[0003] Currently available three-dimensional robotic arms are equipped with a material handling mechanism, which is used to pick up and unload sheet metal. The material handling mechanism includes a crossbeam and multiple material handling arms. These multiple material handling arms are often installed individually and separately on the crossbeam, so during installation, they need to be fixed to the crossbeam one by one, resulting in low installation efficiency. Furthermore, when maintaining or replacing multiple material handling arms, it is also necessary to remove each of the material handling arms from the crossbeam one by one, which also results in low maintenance and disassembly efficiency. Utility Model Content

[0004] The main purpose of this utility model is to propose a three-dimensional robotic arm, which addresses the problem that the multiple material handling arms of existing three-dimensional robotic arms are often installed separately and separately on the crossbeam, resulting in low installation efficiency and low maintenance and disassembly efficiency.

[0005] To achieve the above objectives, the three-dimensional robotic arm proposed in this utility model includes a material handling mechanism and a motion mechanism. The material handling mechanism is connected to the motion mechanism. The material handling mechanism includes a crossbeam and a material handling arm assembly. The side of the crossbeam is connected to the motion mechanism.

[0006] The material handling assembly is located on the top of the crossbeam. The material handling assembly includes a connecting rod, at least two positioning seats, at least two clamping and fixing members, and multiple grippers. At least two positioning seats are installed on the top of the crossbeam, and at least two clamping and fixing members are inserted into the at least two positioning seats in a one-to-one correspondence. The connecting rod is installed on the at least two clamping and fixing members, and the at least two clamping and fixing members respectively clamp both ends of the connecting rod to fix the connecting rod to the crossbeam. The multiple grippers are spaced apart on the connecting rod, thereby fixing the multiple grippers to the top of the crossbeam.

[0007] In some embodiments, each of the grippers includes a first bushing, a support rod, a second bushing, a connector, and a clamp. The first bushing is sleeved on the connecting rod and has a first insertion hole. One end of the support rod is inserted into the first insertion hole of the first bushing, and the other end of the support rod is sleeved on the second bushing. The clamp is fixedly connected to the second bushing via the connector to be connected to the support rod.

[0008] In some embodiments, the first bushing is further provided with a second insertion hole, and the connecting rod is inserted into the second insertion hole. The direction through which the second insertion hole passes is perpendicular to the direction through which the first insertion hole passes, and they are spaced apart from each other.

[0009] In some embodiments, the clamp is a pneumatic clamp connected to an external negative pressure source.

[0010] In some embodiments, each of the positioning seats has a plurality of positioning portions on the side facing the crossbeam, and the plurality of positioning portions have a first through hole;

[0011] The crossbeam is provided with a fixing plate corresponding to the positioning seat. The fixing plate is provided with a second through hole. Fasteners pass through the first through hole and the second through hole to connect the positioning part with the fixing plate.

[0012] In some embodiments, the motion mechanism includes two telescopic arms arranged opposite to each other, and the side of the crossbeam is connected to the two telescopic arms.

[0013] In some embodiments, each of the telescopic booms includes two rotatably connected boom assemblies. Each boom assembly includes a boom body, a motor, a reducer, and a mounting cylinder. The reducer is housed in the mounting cylinder and connected to the mounting cylinder. The boom body is fixedly connected to the mounting cylinder. The motor is located directly above the reducer, and the output end of the motor is directly connected to the reducer.

[0014] In some embodiments, the rotating arm body has at least two guide ribs on its outer side wall away from the crossbeam, and the at least two guide ribs are spaced apart to form a guide groove. The three-dimensional manipulator also includes a limiting member, which is installed in the guide groove and is used to fix the connecting wire.

[0015] In some embodiments, the end of the limiting member away from the guide groove is provided with a wire-clamping part, the wire-clamping part is provided with a through hole, and the connecting wire is limited in the through hole.

[0016] In some embodiments, the end of the limiting member near the rotating arm body is connected to the wall of the rotating arm body, the end of the limiting member away from the rotating arm body is bent relative to the rotating arm body, and the wire clamping part is perpendicular to the outer wall of the rotating arm body.

[0017] The technical solution of this utility model involves installing a material-grabbing hand assembly on the top of a crossbeam. The assembly includes a connecting rod, at least two positioning seats, at least two clamping fasteners, and multiple grippers. The at least two positioning seats are installed on the top of the crossbeam, and the at least two clamping fasteners are inserted into each of the positioning seats in a one-to-one correspondence. The connecting rod is installed on the at least two clamping fasteners, which respectively clamp both ends of the connecting rod to fix it to the crossbeam. The multiple grippers are spaced apart on the connecting rod, thus fixing them to the top of the crossbeam. Therefore, this utility model assembles a material-grabbing hand assembly from the connecting rod, at least two positioning seats, at least two clamping fasteners, and multiple grippers. The grippers are fixed to the connecting rod, which is then fixed to the crossbeam by the at least two clamping fasteners and at least two positioning seats. The installation and removal of the multiple grippers are completed simply by installing the material-grabbing hand assembly on or removing it from the top of the crossbeam, making installation and maintenance easier and faster. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 A schematic diagram of the structure of an embodiment of the three-dimensional robotic arm provided by this utility model;

[0020] Figure 2 A schematic diagram of the structure of an embodiment of the three-dimensional robotic arm material handling component provided by this utility model;

[0021] Figure 3 An exploded view of an embodiment of the gripper provided by this utility model;

[0022] Figure 4 A partially exploded structural diagram of an embodiment of the three-dimensional robotic arm provided by this utility model;

[0023] Figure 5 for Figure 4 Enlarged structural diagram at point A;

[0024] Figure 6 A schematic diagram of the structure of one embodiment of the three-dimensional robotic arm provided by this utility model from another perspective;

[0025] Figure 7 for Figure 6 A magnified structural diagram at point B in the middle.

[0026] Explanation of icon numbers:

[0027] 100. Three-dimensional robotic arm;

[0028] 10. Crossbeam; 11. Fixing plate; 12. Second through hole;

[0029] 20. Material handling assembly; 21. Connecting rod; 22. Positioning seat; 220. Positioning part; 221. First through hole; 23. Clamping and fixing component; 24. Gripper; 240. First bushing; 241. First insertion hole; 242. Second insertion hole; 243. Support rod; 244. Second bushing; 245. Connecting component; 246. Clamping clamp;

[0030] 30. Material handling mechanism;

[0031] 40. Motion mechanism; 42. Telescopic boom; 43. Rotary boom assembly; 430. Rotary boom body; 431. Guide rib; 432. Guide groove; 433. Motor; 434. Reducer; 435. Mounting cylinder;

[0032] 50. Limiting component; 51. Wire clamping part; 52. Through hole; 60. Connecting wire.

[0033] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0035] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0037] Currently available three-dimensional robotic arms are equipped with a material handling mechanism, which is used to pick up and unload sheet metal. The material handling mechanism includes a crossbeam and multiple material handling arms. These multiple material handling arms are often installed individually and separately on the crossbeam, so during installation, they need to be fixed to the crossbeam one by one, resulting in low installation efficiency. Furthermore, when maintaining or replacing multiple material handling arms, it is also necessary to remove each of the material handling arms from the crossbeam one by one, which also results in low maintenance and disassembly efficiency.

[0038] This utility model proposes a three-dimensional robotic arm 100. Please refer to [link / reference needed]. Figures 1 to 3 The three-dimensional robotic arm 100 proposed in this utility model includes a material picking mechanism 30 and a motion mechanism 40. The material picking mechanism 30 is connected to the motion mechanism 40. The material picking mechanism 30 includes a crossbeam 10 and a material picking hand assembly 20. The side of the crossbeam 10 is connected to the motion mechanism 40.

[0039] The material handling assembly 20 is located on the top of the crossbeam 10. The material handling assembly 20 includes a connecting rod 21, at least two positioning seats 22, at least two clamping and fixing members 23, and multiple grippers 24. At least two positioning seats 22 are installed on the top of the crossbeam 10. At least two clamping and fixing members 23 are inserted into the at least two positioning seats 22 in a one-to-one correspondence. The connecting rod 21 is installed on the at least two clamping and fixing members 23. The at least two clamping and fixing members 23 respectively clamp the two ends of the connecting rod 21 to fix the connecting rod 21 to the crossbeam 10. Multiple grippers 24 are spaced apart on the connecting rod 21, thereby fixing the multiple grippers 24 to the top of the crossbeam 10.

[0040] In one embodiment, both ends of the connecting rod 21 are fixed to the crossbeam 10 by two clamping fasteners 23 and two positioning seats 22. Multiple grippers 24 can be installed on the connecting rod 21, thereby fixing all the grippers 24 to the crossbeam 10. Optionally, please refer to [reference needed]. Figure 2Three grippers 24 can be installed on the connecting rod 21, with two grippers 24 located at both ends of the connecting rod 21 and the third gripper 24 located in the middle of the connecting rod 21, so that the three grippers 24 are evenly installed on the connecting rod 21. Optionally, four or five grippers 24 can also be installed on the connecting rod 21. This utility model does not limit the number of grippers 24.

[0041] The clamping and fixing member 23 includes a rod and a clamping end with a clamping hole. The rod is inserted into the positioning hole of the positioning seat 22 so that the clamping and fixing member 23 is connected to the positioning seat 22. The connecting rod 21 is inserted into the clamping hole of the clamping end so that the connecting rod 21 is fixed on the clamping and fixing member 23.

[0042] This invention comprises a material handling assembly 20 consisting of a connecting rod 21, at least two positioning seats 22, at least two clamping and fixing members 23, and multiple grippers 24. The multiple grippers 24 are fixed to the connecting rod 21, and the connecting rod 21 is fixed to the crossbeam 10 by at least two clamping and fixing members 23 and at least two positioning seats 22. The installation, removal, and replacement of the multiple grippers 24 can be completed simply by installing the material handling assembly 20 onto the top of the crossbeam 10 or removing it from the top of the crossbeam 10, which is convenient, quick, and improves installation and maintenance efficiency.

[0043] Please see Figure 3 To extend the clamp 246 outward relative to the crossbeam 10 so that it can grip the workpiece to be stamped, each clamp 24 includes a first bushing 240, a support rod 243, a second bushing 244, a connector 245, and a clamp 246. The first bushing 240 is fitted onto the connecting rod 21 and has a first insertion hole 241. One end of the support rod 243 is inserted into the first insertion hole 241 of the first bushing 240, and the other end of the support rod 243 is fitted onto the second bushing 244. The clamp 246 is fixedly connected to the second bushing 244 via the connector 245 to connect to the support rod 243. One end of the support rod 243 is fixed to the connecting rod 21 via the first bushing 240, and the other end of the support rod 243 is connected to the clamp via the second bushing 244 and the connector 245, so that the clamp 246 can extend outward relative to the crossbeam 10 through the support rod 243.

[0044] Specifically, the first bushing 240 also has a second insertion hole 242, into which the connecting rod 21 is inserted. The direction through which the second insertion hole 242 passes is perpendicular to the direction through which the first insertion hole 241 passes, and they are spaced apart. The connecting rod 21 is inserted into the second insertion hole 242, and the support rod 243 is inserted into the first insertion hole 241. Since the direction through which the second insertion hole 242 passes is perpendicular to the direction through which the first insertion hole 241 passes and they are spaced apart, please refer to [reference needed]. Figure 2The connecting rod 21 is located above the support rod 243, and the connecting rod 21 and the support rod 243 are perpendicular to each other, thus avoiding the support rod 243 and the connecting rod 21 from obstructing each other.

[0045] In one embodiment, the clamp 246 is a pneumatic clamp connected to an external negative pressure source. The clamp 246 can employ the structure of an existing pneumatic clamp 246, which will not be described in detail here.

[0046] The distance between two adjacent clamps 246 can be greater than 15cm; and the distance between two adjacent clamps 246 can be less than 25cm.

[0047] Please see Figure 5 To facilitate the installation of the positioning seat 22 onto the crossbeam 10, each positioning seat 22 has multiple positioning parts 220 on the side facing the crossbeam 10, and each positioning part 220 has a first through hole 221. The crossbeam 10 is provided with a fixing plate 11 corresponding to the positioning seat 22, and the fixing plate 11 has a second through hole 12. Fasteners pass through the first through hole 221 and the second through hole 12 to connect the positioning part 220 to the fixing plate 11. The fasteners can be screws. The positioning seat 22 can be installed onto the fixing plate 11 at the top of the crossbeam 10 via the multiple positioning parts 220 and screws, so that the material handling assembly 20 can be installed on the top of the crossbeam 10.

[0048] In order to drive the material handling mechanism 30 to extend and retract back and forth so that the material handling mechanism 30 can pick up and put down materials, the motion mechanism 40 includes two telescopic arms 42, which are arranged opposite to each other, and the side of the crossbeam 10 is connected to the two telescopic arms 42.

[0049] The two telescopic arms 42 can rotate to extend or retract, thereby causing the crossbeam 10 and the material handling assembly 20 to extend or retract.

[0050] Specifically, please refer to Figure 1 , Figure 4 and Figure 6 Each telescopic boom 42 includes two rotating boom assemblies 43 that are rotatably connected to each other. Each rotating boom assembly 43 includes a rotating boom body 430, a motor 433, a reducer 434, and a mounting cylinder 435. The reducer 434 is housed in the mounting cylinder 435 and is connected to the mounting cylinder 435. The rotating boom body 430 is fixedly connected to the mounting cylinder 435. The motor 433 is located directly above the reducer 434, and the output end of the motor 433 is directly connected to the reducer 434.

[0051] In one embodiment, the motor 433 drives the reducer 434 to rotate. The sleeve seat fixedly connected to the bottom of the reducer 434 rotates the rotating arm assembly 43, so as to realize the rotating arm assembly 43 rotating forward or backward, thereby driving the material handling mechanism 30 to extend or retract. The motor 433 and the reducer 434 are directly connected, which facilitates installation and maintenance.

[0052] Further, please refer to Figure 6 and Figure 7 To facilitate wiring and prevent the connecting wires 60 from being haphazardly hung on the rotating arm assembly 43, the rotating arm body 430 has at least two guide ribs 431 on its outer side wall away from the crossbeam 10. The at least two guide ribs 431 are spaced apart to form a guide groove 432. The three-dimensional robot 100 also includes a limiting member 50, which is installed in the guide groove 432 and is used to fix the connecting wires 60.

[0053] In another embodiment, the limiting member 50 is installed in the guide groove 432, and the limiting member 50 can limit the connecting wire 60 so that the connecting wire 60 can be limited to the outer side wall of the rotating arm body 430. The connecting wire 60 can be inserted from the bottom of the mounting cylinder 435 to connect and energize the reducer 434.

[0054] Specifically, please refer to Figure 7 The end of the limiting member 50 away from the guide groove 432 is provided with a wire clamping part 51, and the wire clamping part 51 is provided with a through hole 52, and the connecting wire 60 is limited in the through hole 52; the end of the limiting member 50 near the rotating arm body 430 is connected to the wall of the rotating arm body 430, and the end of the limiting member 50 away from the rotating arm body 430 is bent relative to the rotating arm body 430; the wire clamping part 51 is set perpendicular to the outer wall of the rotating arm body 430.

[0055] One end of the limiting member 50 can be fixed in the guide groove 432 with screws, and then the limiting member 50 can be bonded to the outer wall of the rotating arm body 430 to prevent the limiting member 50 from falling off the outer wall of the rotating arm body 430. Then, the other end of the limiting member 50 is bent to form a wire-locking part 51. The connecting wire 60 is locked in the through hole 52 of the wire-locking part 51 to limit the connecting wire 60 to the outer wall of the rotating arm body 430 and prevent the connecting wire 60 from being messily hung on the rotating arm assembly 43.

[0056] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A three-dimensional robotic arm, characterized in that, It includes a material handling mechanism and a motion mechanism, wherein the material handling mechanism is connected to the motion mechanism, and the material handling mechanism includes a crossbeam and a material handling hand assembly, wherein the side of the crossbeam is connected to the motion mechanism; The material handling assembly is located on the top of the crossbeam. The material handling assembly includes a connecting rod, at least two positioning seats, at least two clamping and fixing members, and multiple grippers. At least two positioning seats are installed on the top of the crossbeam, and at least two clamping and fixing members are inserted into the at least two positioning seats in a one-to-one correspondence. The connecting rod is installed on the at least two clamping and fixing members, and the at least two clamping and fixing members respectively clamp both ends of the connecting rod to fix the connecting rod to the crossbeam. The multiple grippers are spaced apart on the connecting rod, thereby fixing the multiple grippers to the top of the crossbeam.

2. The three-dimensional robotic arm as described in claim 1, characterized in that, Each of the clamps includes a first bushing, a support rod, a second bushing, a connector, and a clamp. The first bushing is sleeved on the connecting rod and has a first insertion hole. One end of the support rod is inserted into the first insertion hole of the first bushing, and the other end of the support rod is sleeved on the second bushing. The clamp is fixedly connected to the second bushing through the connector to be connected to the support rod.

3. The three-dimensional robotic arm as described in claim 2, characterized in that, The first bushing is also provided with a second insertion hole, and the connecting rod is inserted into the second insertion hole. The direction through which the second insertion hole passes is perpendicular to the direction through which the first insertion hole passes, and they are spaced apart from each other.

4. The three-dimensional robotic arm as described in claim 2, characterized in that, The clamp is a pneumatic clamp, which is connected to an external negative pressure source.

5. The three-dimensional robotic arm as described in claim 2, characterized in that, Each of the positioning seats has multiple positioning parts on one side facing the crossbeam, and the multiple positioning parts have a first through hole; The crossbeam is provided with a fixing plate corresponding to the positioning seat. The fixing plate is provided with a second through hole. Fasteners pass through the first through hole and the second through hole to connect the positioning part with the fixing plate.

6. The three-dimensional robotic arm as described in any one of claims 1 to 5, characterized in that, The motion mechanism includes two telescopic arms, which are arranged opposite to each other, and the side of the crossbeam is connected to the two telescopic arms.

7. The three-dimensional robotic arm as described in claim 6, characterized in that, Each telescopic boom includes two rotatably connected boom assemblies. Each boom assembly includes a boom body, a motor, a reducer, and a mounting cylinder. The reducer is housed in the mounting cylinder and connected to the mounting cylinder. The boom body is fixedly connected to the mounting cylinder. The motor is located directly above the reducer, and the output end of the motor is directly connected to the reducer.

8. The three-dimensional robotic arm as described in claim 7, characterized in that, The rotating arm body has at least two guide ribs on its outer side wall away from the crossbeam. The at least two guide ribs are spaced apart to form a guide groove. The three-dimensional manipulator also includes a limiting member, which is installed in the guide groove and is used to fix the connecting wire.

9. The three-dimensional robotic arm as described in claim 8, characterized in that, The limiting member has a wire-clamping part at one end away from the guide groove, and the wire-clamping part has a through hole, with the connecting wire limited in the through hole.

10. The three-dimensional robotic arm as described in claim 9, characterized in that, The end of the limiting member near the rotating arm body is connected to the wall of the rotating arm body, and the end of the limiting member away from the rotating arm body is bent relative to the rotating arm body. The locking part is perpendicular to the outer wall of the rotating arm body.

Images