Five-axis servo manipulator capable of preventing workpiece adhesion

Abstract

The utility model relates to the technical field of manipulators, and discloses a five-axis servo manipulator capable of preventing adhesion of workpieces, which comprises a multi-axis movement structure, a clamping module is fixedly mounted at the movable end of the multi-axis movement structure, and a driving motor is fixedly mounted on the side wall of the clamping module. A two-way lead screw is fixedly installed at the output end of the driving motor, the outer wall of the two-way lead screw is in threaded connection with a clamping plate, and a separating assembly is arranged on the inner wall of the clamping plate. According to the five-axis servo manipulator capable of preventing workpiece adhesion, by arranging the separation assembly, when clamping plates are away from each other to loosen a workpiece, due to the elasticity of an elastic telescopic rod, a sliding plate moves towards one side of the center of a movable cavity, so that the workpiece is loosened through guiding and driving of an annular groove and a round rod; and the scrapers scrape the surfaces of the clamping plates from the two sides to the center, so that the workpieces are made to be separated from the clamping plates, and the situation that the normal feeding work of the manipulator is affected due to adhesion of the workpieces is avoided.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a five-axis servo robotic arm that can prevent workpieces from sticking together. Background Technology

[0002] Robotic arms can replace manual labor in repetitive and tedious tasks. Various single-arm multi-axis servo robotic arms are used in production. However, most robotic arms at present cannot perform very complex processes. They are mostly used to pick up and put down items to realize the function of transporting and transferring items during the production process.

[0003] According to a public notice of a single-arm five-axis servo manipulator (publication number: CN216661709U), the above application features side clamping structures on both sides of the top plate with adjustable spacing under the extension and retraction of hydraulic rods. The bottom of the side clamping structures is equipped with a rotatable and adjustable bottom support structure. This allows the angle of the bottom support structure to be adjusted according to the actual size of the item, and the adjustable spacing of the hydraulic rods can better accommodate the clamping of items of more sizes.

[0004] However, in actual use, the above-mentioned equipment relies on the contact and pressure of the gripper plate of the robot arm to the material to grasp it. During the grasping process, as the grasping time increases, it is easy for the robot arm and the material to stick together, which leads to errors in the material conveying and waste of raw materials. In view of this, we propose a five-axis servo robot arm that can prevent workpiece sticking. Utility Model Content

[0005] The purpose of this invention is to provide a five-axis servo robot that can prevent workpieces from sticking together, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a five-axis servo manipulator that prevents workpiece adhesion, comprising a multi-axis motion structure, a clamping module fixedly mounted on the movable end of the multi-axis motion structure, a drive motor fixedly mounted on the side wall of the clamping module, a bidirectional lead screw fixedly mounted on the output end of the drive motor, a clamping plate threadedly connected to the outer wall of the bidirectional lead screw, and a release component provided on the inner wall of the clamping plate, the release component comprising:

[0007] The movable cavity is located on the outer wall of the clamping plate near the center of the clamping module. Annular grooves are provided on the inner walls of the left and right sides of the movable cavity. A sliding plate is slidably mounted on the bottom inner wall of the movable cavity. An elastic telescopic rod is fixedly connected between the side wall of the sliding plate and the inner wall of the movable cavity. A connecting rod is hinged to the side wall of the sliding plate, and a contact plate is hinged to the end of the connecting rod.

[0008] A telescopic rod is provided, with its bottom end fixedly installed on the upper surface of the slide plate, and a scraper fixedly installed at its top end. A return spring is fixedly connected between the slide plate and the scraper. A round rod is fixedly installed on the side wall of the scraper and is positioned in an annular groove.

[0009] Preferably, the top of the clamping plate is provided with a T-shaped structure, and the inside of the clamping module is provided with a T-shaped groove that matches the T-shaped structure, so as to ensure the stable operation of the clamping plate inside the clamping module and realize the gripping of materials.

[0010] Preferably, the annular groove is arranged in a "U" shape. The movement of the round rod in the annular groove drives the scraper to make a U-shaped movement in the movable cavity. When the scraper moves to the side away from the bottom of the movable cavity, the surface of the scraper protrudes from the outer surface of the clamping plate.

[0011] Preferably, the number of the sliding plate and the scraper is set to two sets, and the two sets of sliding plates and scrapers are symmetrically arranged with the vertical central axis of the active cavity as the axis of symmetry.

[0012] Preferably, the scraper is provided with an oscillating assembly inside, the oscillating assembly including an oscillating groove, the oscillating groove being formed on the outer surface of the scraper, a fixing rod being fixedly installed on the inner wall of the oscillating groove, a paddle plate being movably installed through the outer wall of the fixing rod, a coil spring being fixedly connected between the end of the paddle plate and the end inner wall of the oscillating groove, a wave groove being formed on the arc-shaped outer wall of the fixing rod, and a convex ball being provided on the inner wall of the paddle plate, the convex ball being disposed inside the wave groove.

[0013] Preferably, the number of the oscillating components is set to multiple sets, and the multiple sets of oscillating components are evenly distributed in a linear array on the outer wall of the scraper. The number of the coil springs is set to two sets, and the two sets of coil springs are mirror images of each other at both ends of the lever plate.

[0014] Preferably, the coil spring is sleeved on the outside of the fixed rod.

[0015] Compared with the prior art, this utility model provides a five-axis servo robot that can prevent workpiece adhesion, and has the following beneficial effects:

[0016] 1. This five-axis servo robot that prevents workpiece adhesion is equipped with a release component. When the clamping plates move away from each other to release the workpiece, the elastic force of the elastic telescopic rod causes the slide plate to move towards the center of the movable cavity. Guided by the annular groove and the round rod, the scraper scrapes the surface of the clamping plates from both sides towards the center, thereby causing the workpiece to detach from the clamping plates and preventing the workpiece from sticking and affecting the normal loading operation of the robot.

[0017] 2. This five-axis servo robot that prevents workpiece adhesion is equipped with a swing assembly. When the scraper slides along the inner surface of the annular groove with the round rod, the guide bar on the scraper surface extends and contacts the workpiece surface. The deflection caused by the pressure on the guide bar, guided by the convex ball and the wave groove, causes the guide bar to slide laterally back and forth along the inner wall of the swing groove, so as to produce a scraping effect on the workpiece remaining on the side of the clamping plate, causing it to separate from the clamping plate and ensuring the robot's performance. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main structure of the present utility model;

[0019] Figure 2 This is a schematic diagram of the clamping module structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the clamping plate structure of this utility model;

[0021] Figure 4 This is a schematic diagram of the detachable component structure of this utility model;

[0022] Figure 5 This is a cross-sectional view of the scraper structure of this utility model;

[0023] Figure 6 This is an exploded schematic diagram of the swing assembly of this utility model.

[0024] In the diagram: 1. Multi-axis motion structure; 2. Clamping module; 3. Drive motor; 4. Clamping plate; 5. Release assembly; 51. Movable cavity; 52. Annular groove; 53. Slide plate; 54. Elastic telescopic rod; 55. Connecting rod; 56. Contact plate; 57. Telescopic rod; 58. Scraper; 59. Return spring; 510. Round rod; 6. Swing assembly; 61. Swing groove; 62. Fixed rod; 63. Paddle plate; 64. Coil spring; 65. Wave groove; 66. Convex ball. Detailed Implementation

[0025] like Figures 1-6 As shown, this utility model provides a technical solution: a five-axis servo manipulator that can prevent workpiece adhesion, including a multi-axis motion structure 1, a clamping module 2 fixedly installed at the movable end of the multi-axis motion structure 1, a drive motor 3 fixedly installed on the side wall of the clamping module 2, a bidirectional lead screw fixedly installed at the output end of the drive motor 3, a clamping plate 4 threadedly connected to the outer wall of the bidirectional lead screw, and a release component 5 provided on the inner wall of the clamping plate 4. The release component 5 includes a movable cavity 51, an annular groove 52, a sliding plate 53, an elastic telescopic rod 54, a connecting rod 55, a contact plate 56, a telescopic rod 57, a scraper 58, a return spring 59, and a round rod 510.

[0026] In one embodiment of this utility model, the movable cavity 51 is formed on the outer wall of the clamping plate 4 near the center of the clamping module 2. Annular grooves 52 are formed on the inner walls of the left and right sides of the movable cavity 51. A sliding plate 53 is slidably installed on the bottom inner wall of the movable cavity 51. An elastic telescopic rod 54 is fixedly connected between the side wall of the sliding plate 53 and the inner wall of the movable cavity 51. A connecting rod 55 is hinged to the side wall of the sliding plate 53, and a contact plate 56 is hinged to the end of the connecting rod 55. A telescopic rod 57 is fixedly connected to the upper surface of the sliding plate 53. A scraper 58 is fixedly installed at the top of the telescopic rod 57. A return spring 59 is fixedly connected between the sliding plate 53 and the scraper 58. A round rod 510 is fixedly installed on the side wall of the scraper 58, and the round rod 510 is disposed in the annular groove 52.

[0027] Furthermore, each axis of the multi-axis motion structure 1 is individually equipped with a drive device at its connection point, enabling each axis of the multi-axis motion structure 1 to rotate accordingly, thereby realizing the deployment and movement of the robotic arm. This, in turn, cooperates with the clamping module 2 to achieve the gripping and transporting of workpieces. Simultaneously, the top of the clamping plate 4 is provided with a T-shaped structure, and the interior of the clamping module 2 has a T-shaped groove adapted to the aforementioned T-shaped structure, ensuring the stable operation of the clamping plate 4 within the clamping module 2 to achieve the gripping of materials. Additionally, the width of the sliding plate 53 is adapted to the internal width of the movable cavity 51, and three sets of elastic telescopic rods 54 are provided, with the three sets of elastic... The telescopic rods 54 are arranged in a linear array on the side of the slide plate 53 so that the slide plate 53 is positioned close to the center of the active cavity 51 in the initial state. Specifically, the annular groove 52 is arranged in a "U" shape. The movement of the round rod 510 in the annular groove 52 drives the scraper 58 to perform a U-shaped movement in the active cavity 51. When the scraper 58 moves to the side away from the bottom of the active cavity 51, the surface of the scraper 58 protrudes from the outer surface of the clamping plate 4. This allows the protruding sliding movement of the scraper 58 to push the material on the side of the clamping plate 4, causing it to separate from the clamping plate 4 and preventing the material from adhering to the surface of the clamping plate 4, which would affect the material loosening and feeding.

[0028] In addition, the return spring 59 is sleeved on the outside of the telescopic rod 57 so that the return spring 59 can only deform in the vertical direction and will not deflect in the horizontal direction. At the same time, there are two sets of sliding plates 53 and scrapers 58, and the two sets of sliding plates 53 and scrapers 58 are symmetrically arranged about the vertical central axis of the movable cavity 51. So when the clamping plate 4 contacts the surface of the workpiece, the workpiece can first contact the contact plate 56, and the contact plate 56 pushes the connecting rod 55 to make the sliding plate 53 move away from the center of the movable cavity 51. At this time, the scraper 58 is in the annular groove 52 near the bottom of the movable cavity 51. During lateral movement, the scraper 58 does not contact the workpiece, ensuring the normal and stable clamping effect of the clamping plate 4. Finally, the scraper 58 and the round rod 510 stop at the arc-shaped end of the annular groove 52, and they have an upward tendency. After the robot arm finishes loading, the workpiece tends to separate from the clamping plate 4. Due to the elastic force of the elastic telescopic rod 54, the slide plate 53 moves towards the center of the movable cavity 51. Thus, guided by the annular groove 52 and the round rod 510, the scraper 58 scrapes the surface of the clamping plate 4 from both sides to the center, so as to promote the workpiece to separate from the clamping plate 4 and avoid the workpiece from sticking, which would affect the normal loading operation of the robot arm.

[0029] Please also refer to the instruction manual appendix. Figures 5-6 The scraper 58 is provided with an oscillating component 6. The oscillating component 6 includes an oscillating groove 61. The oscillating groove 61 is formed on the outer surface of the scraper 58. A fixing rod 62 is fixedly installed on the inner wall of the oscillating groove 61. A lever plate 63 is movably installed through the outer wall of the fixing rod 62. A coil spring 64 is fixedly connected between the end of the lever plate 63 and the end inner wall of the oscillating groove 61. A wave groove 65 is formed on the arc-shaped outer wall of the fixing rod 62. A convex ball 66 is provided on the inner wall of the lever plate 63. The convex ball 66 is set inside the wave groove 65.

[0030] In this embodiment of the invention, multiple sets of swing components 6 are arranged in a linear array and evenly distributed on the outer wall of the scraper 58. Two sets of coil springs 64 are arranged in a mirror image at both ends of the lever plate 63. The coil springs 64 are sleeved on the outside of the fixed rod 62. When the scraper 58 slides along the inner surface of the annular groove 52 with the round rod 510, the lever plate 63 on the surface of the scraper 58 extends out and contacts the surface of the workpiece. Due to the deflection caused by the lever plate 63 being squeezed, the lever plate 63 slides laterally back and forth along the inner wall of the swing groove 61 under the guidance of the convex ball 66 and the wave groove 65, so as to produce a scraping effect on the workpiece remaining on the side of the clamping plate 4, causing it to separate from the clamping plate 4, thus ensuring the effectiveness of the robot.

[0031] In this invention, during use, the drive device installed in the multi-axis motion structure 1 enables the robotic arm to unfold and move. Then, by controlling the drive motor 3 to drive the rotation of the bidirectional lead screw, the two sets of clamping plates 4 below the clamping module 2 move closer or further apart, thereby achieving the gripping and transporting of the workpiece. At the same time, by providing the release component 5, when the clamping plates 4 move further apart to release the workpiece, the elastic force of the elastic telescopic rod 54 causes the slide plate 53 to move towards the center of the movable cavity 51. Guided by the annular groove 52 and the round rod 510, the scraper 58 scrapes the surface of the clamping plates 4 from both sides towards the center, so as to promote the workpiece to detach from the clamping plates 4 and avoid the workpiece from sticking together, which would affect the normal loading operation of the robotic arm.

[0032] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A five-axis servo manipulator capable of preventing workpiece adhesion, comprising a multi-axis motion structure (1), wherein a clamping module (2) is fixedly mounted on the movable end of the multi-axis motion structure (1), a drive motor (3) is fixedly mounted on the side wall of the clamping module (2), a bidirectional lead screw is fixedly mounted on the output end of the drive motor (3), and a clamping plate (4) is threadedly connected to the outer wall of the bidirectional lead screw, characterized in that: The inner wall of the clamping plate (4) is provided with a detachment component (5), and the detachment component (5) includes: An active cavity (51), the active cavity (51) is opened on the outer wall of the clamping plate (4) close to the center of the clamping module (2), annular grooves (52) are opened on the inner walls on the left and right sides of the active cavity (51), a sliding plate (53) is slidably installed on the bottom inner wall of the active cavity (51), an elastic telescopic rod (54) is fixedly connected between the side wall of the sliding plate (53) and the inner wall of the active cavity (51), a connecting rod (55) is hinged on the side wall of the sliding plate (53), and a contact plate (56) is hinged at the end of the connecting rod (55); A telescopic rod (57), the bottom end of the telescopic rod (57) is fixedly installed on the upper surface of the sliding plate (53), the top end of the telescopic rod (57) is fixedly installed with a scraping plate (58), a return spring (59) is fixedly connected between the sliding plate (53) and the scraping plate (58), a round rod (510) is fixedly installed on the side wall of the scraping plate (58), and the round rod (510) is arranged in the annular groove (52).

2. The five-axis servo manipulator capable of preventing workpiece sticking according to claim 1, wherein: The top of the clamping plate (4) is provided with a T-shaped structure, and a T-shaped groove adapted to the above T-shaped structure is opened in the clamping module (2).

3. The five-axis servo manipulator capable of preventing workpiece sticking according to claim 1, wherein: The annular groove (52) is arranged in a "return" shape, and through the movement of the round rod (510) in the annular groove (52).

4. A five-axis servo robot for preventing workpiece adhesion according to claim 1, characterized in that: The number of the sliding plates (53) and the scraping plates (58) is set to two groups, and the two groups of sliding plates (53) and scraping plates (58) are symmetrically arranged with the vertical central axis of the active cavity (51) as the symmetry axis.

5. The five-axis servo manipulator capable of preventing workpiece sticking according to claim 1, wherein:

6. The five-axis servo manipulator capable of preventing workpiece sticking according to claim 5, characterized in that: A swing component (6) is arranged inside the scraping plate (58), and the swing component (6) includes a swing groove (61), the swing groove (61) is opened on the outer surface of the scraping plate (58), a fixed rod (62) is fixedly installed on the inner wall of the swing groove (61), a strip plate (63) is penetrated and movably installed on the outer wall of the fixed rod (62), a coil spring (64) is fixedly connected between the end of the strip plate (63) and the inner wall of the end of the swing groove (61), a wavy groove (65) is opened on the arc-shaped outer wall of the fixed rod (62), and a convex ball (66) is arranged on the inner wall of the strip plate (63), and the convex ball (66) is arranged inside the wavy groove (65).

7. The five-axis servo manipulator capable of preventing workpiece sticking according to claim 5, characterized in that: The number of the swing components (6) is set to multiple groups, and the multiple groups of swing components (6) are evenly distributed in a linear array on the outer wall of the scraping plate (58), and the number of the coil springs (64) is set to two groups, and the two groups of coil springs (64) are mirror-symmetrically arranged at both ends of the strip plate (63). The coil spring (64) is sleeved on the outside of the fixed rod (62).

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