Multifunctional mechanical arm

Abstract

The utility model discloses a multifunctional mechanical arm which comprises an up-and-down lifting and left-and-right transverse moving mechanism, a 360-degree autorotation mechanism, a rotating mechanism and a clamping jaw mechanism used for taking and placing bars, and the rotating mechanism is connected to the clamping jaw mechanism and used for driving the clamping jaw mechanism to rotate and swing along the axis of the rotating mechanism. The bottom of the 360-degree autorotation mechanism is connected to the rotating mechanism and can drive the rotating mechanism and the clamping jaw mechanism to rotate by 360 degrees along the axis of the 360-degree autorotation mechanism, and the axis of the 360-degree autorotation mechanism is perpendicular to the axis of the rotating mechanism. The up-and-down lifting and left-and-right transverse moving mechanism is connected to the top of the 360-degree autorotation mechanism and used for driving the 360-degree autorotation mechanism, the rotating mechanism and the clamping jaw mechanism to ascend, descend and transversely move left and right. The position precision of material taking and placing is improved, the error of each machining position is effectively avoided, and therefore the machining efficiency is improved, and the labor cost is greatly saved.

Description

Technical Field

[0001] This utility model relates to the field of machining shaft parts in the automotive industry, and in particular to a multifunctional robotic arm. Background Technology

[0002] With rapid technological innovation and soaring labor costs, automated production has become the most effective means of cost reduction that all industries must prioritize. This is especially true in the highly competitive automotive industry. As a Tier 2 supplier in the automotive industry, labor costs will account for a very large proportion of the total product cost. Therefore, in the next few years, how to effectively reduce labor costs while ensuring quality will be the key to survival for Tier 2 suppliers in the automotive industry.

[0003] Currently, finished shaft parts require numerous machining processes and high precision, with challenging placement angles. This necessitates frequent changes in machining steps and maintains high positioning accuracy. Due to positional and angular limitations, some areas require vertical movement, others horizontal movement, and still others rotation. Currently, the industry relies on manual handling of the bar stock, resulting in high labor intensity and low processing efficiency. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned shortcomings of existing technologies and to provide a multifunctional robotic arm.

[0005] This utility model is achieved through the following technical solution:

[0006] A multifunctional robotic arm includes a lifting and lateral movement mechanism, a 360-degree rotation mechanism, a rotating mechanism, and a gripper mechanism for picking up and placing bar stock. The rotating mechanism is connected to the gripper mechanism and drives the gripper mechanism to rotate and swing along the axis of the rotating mechanism. The bottom of the 360-degree rotation mechanism is connected to the rotating mechanism and can drive the rotating mechanism and the gripper mechanism to rotate 360 ​​degrees along the axis of the 360-degree rotation mechanism. The axis of the 360-degree rotation mechanism is perpendicular to the axis of the rotating mechanism. The lifting and lateral movement mechanism is connected to the top of the 360-degree rotation mechanism and drives the 360-degree rotation mechanism, the rotating mechanism, and the gripper mechanism to lift, move, and move left and right.

[0007] Furthermore, the vertical lifting and horizontal sliding mechanism includes a horizontal support, a mounting base, and a lifting column. The mounting base is connected to the horizontal support and can slide horizontally on the horizontal support. The lifting column is connected to the mounting base and can move vertically on the mounting base. The 360-degree rotation mechanism is connected to the bottom of the lifting column.

[0008] Furthermore, the horizontal support has a horizontal rack, the lifting column has a vertical rack, and the up-down lifting and left-right lateral movement mechanism also includes a horizontal motor and a lifting motor. The horizontal motor and the lifting motor are both mounted on the mounting base, and the horizontal motor meshes with the horizontal rack to drive the mounting base to move horizontally, while the lifting motor meshes with the vertical rack to drive the lifting column to move vertically up and down.

[0009] Furthermore, the horizontal support has at least one horizontal guide rail, the lifting column has at least one vertical guide rail, and the mounting base has at least one first slider and at least one second slider. The first slider is connected to the horizontal guide rail and moves horizontally on the horizontal guide rail, while the second slider is connected to the vertical guide rail and moves up and down on the vertical guide rail.

[0010] Furthermore, the 360-degree rotation mechanism includes a drive motor, a gear, and a rotating outer ring. The fixed end of the drive motor is connected to the bottom of the lifting column, the rotating outer ring is rotatably connected to the bottom of the lifting column, and the rotation mechanism is connected to the rotating outer ring. The inner wall surface of the rotating outer ring has internal teeth that mesh with the gear. The movable end of the drive motor is connected to the gear and drives the gear to rotate, so that the rotating outer ring rotates 360 degrees along its axis.

[0011] Furthermore, the rotating mechanism includes a mounting bracket, a rotating shaft, and a rotating motor. The fixed end of the rotating motor is connected to the lifting column, and the movable end of the rotating motor has a first bevel gear. The mounting bracket is connected to the bottom of the rotating outer ring, and the rotating shaft is rotatably connected inside the mounting bracket. The gripper mechanism is connected to the rotating shaft, and the outer circumferential surface of the rotating shaft has a second bevel gear. The second bevel gear meshes with the first bevel gear to form a 90-degree angle. The rotating motor drives the first bevel gear to rotate, thereby causing the second bevel gear, the rotating shaft, and the gripper mechanism to rotate and swing along the axis of the rotating shaft.

[0012] Furthermore, the mounting bracket has a swing groove, one end of the gripper mechanism extends into the swing groove and rotates within the swing groove, and the other end of the gripper mechanism protrudes from the outer surface of the mounting bracket and is used to pick up and put down the bar stock.

[0013] Furthermore, the gripper mechanism includes a gripper frame, a gripping motor, and two grippers. The gripper frame is connected to the rotating shaft, and the gripping motor is connected to the gripper frame. The movable end of the gripping motor is connected to the two grippers and is used to drive the two grippers to move closer together or open apart.

[0014] The beneficial effects of this utility model are as follows:

[0015] This utility model's multifunctional robotic arm enables the gripper mechanism to move vertically and horizontally through a lifting and lateral movement mechanism; a 360-degree rotation mechanism allows the gripper mechanism to rotate as a whole, achieving the required rotation angle for the bar stock; and a rotating mechanism allows the gripper mechanism to rotate and swing within a range, achieving gripping effects that straight-up-down mechanical grippers cannot. This improves the positional accuracy of material handling, effectively avoids errors in processing position each time, thereby increasing processing efficiency and significantly saving labor costs. Attached Figure Description

[0016] Figure 1 This is a front view structural diagram of the multifunctional robotic arm according to an embodiment of the present invention.

[0017] Figure 2 This is a right-side structural schematic diagram of the multifunctional robotic arm according to an embodiment of the present invention.

[0018] Figure 3 This is a partially enlarged schematic diagram of the vertical lifting and horizontal traversing mechanism according to an embodiment of the present invention.

[0019] Figure 4 This is a partially enlarged schematic diagram from another perspective of the vertical lifting and horizontal traversing mechanism of this utility model embodiment.

[0020] Figure 5 This is a schematic diagram of part of the internal structure of the multifunctional robotic arm according to an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram of the 360-degree self-rotation mechanism and the rotation mechanism of this utility model embodiment.

[0022] Figure 7 This is a partially enlarged schematic diagram of the multifunctional robotic arm according to an embodiment of the present invention.

[0023] Explanation of reference numerals in the attached figures:

[0024] Up and down lifting and left and right lateral moving mechanism 1

[0025] Horizontal support 11

[0026] Horizontal rack 111

[0027] Horizontal guide rail 112

[0028] 12 Lifting Columns

[0029] Vertical rack 121

[0030] Vertical guide rail 122

[0031] Mounting bracket 13

[0032] First slider 131

[0033] Second slider 132

[0034] Horizontal motor 14

[0035] Lifting motor 15

[0036] Support column 16

[0037] 360-degree rotation mechanism 2

[0038] Drive motor 21

[0039] Gear 22

[0040] Rotating outer ring 23

[0041] Internal teeth 231

[0042] Rotating mechanism 3

[0043] Rotary motor 31

[0044] First bevel gear 311

[0045] Rotating shaft 32

[0046] Second bevel gear 321

[0047] Mounting bracket 33

[0048] Swing groove 331

[0049] Gripper mechanism 4

[0050] gripper holder 41

[0051] Grab motor 42

[0052] Claw 43 Detailed Implementation

[0053] The following description of the embodiments is with reference to the accompanying drawings, which illustrate specific embodiments in which the present invention can be implemented.

[0054] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown in the figure, this embodiment discloses a multifunctional robotic arm, which includes a vertical lifting and horizontal traversing mechanism 1, a 360-degree rotation mechanism 2, a rotating mechanism 3, and a gripper mechanism 4 for picking up and placing bar materials. The rotating mechanism 3 is connected to the gripper mechanism 4 and is used to drive the gripper mechanism 4 to rotate and swing along the axis of the rotating mechanism 3. The bottom of the 360-degree rotation mechanism 2 is connected to the rotating mechanism 3 and can drive the rotating mechanism 3 and the gripper mechanism 4 to rotate 360 ​​degrees along the axis of the 360-degree rotation mechanism 2. The axis of the 360-degree rotation mechanism 2 is perpendicular to the axis of the rotating mechanism 3. The vertical lifting and horizontal traversing mechanism 1 is connected to the top of the 360-degree rotation mechanism 2 and is used to drive the 360-degree rotation mechanism 2, the rotating mechanism 3, and the gripper mechanism 4 to lift and move horizontally.

[0055] The gripper mechanism 4 is connected to the rotating mechanism 3, which in turn is connected to the 360-degree rotation mechanism 2. The 360-degree rotation mechanism 2 is connected to the vertical lifting and horizontal traversing mechanism 1. When the gripper mechanism 4 picks up the bar stock, the vertical lifting and horizontal traversing mechanism 1 enables the gripper mechanism 4 to be lifted vertically and moved horizontally. The 360-degree rotation mechanism 2 enables the gripper mechanism 4 to rotate as a whole, achieving the required rotation angle for the bar stock. The rotating mechanism 3 allows the gripper mechanism 4 to rotate and oscillate within a range, achieving a gripping effect that a straight-up-down mechanical gripper cannot. This improves the positional accuracy of picking up and placing materials, effectively avoiding errors in the processing position each time, thereby increasing processing efficiency and significantly saving labor costs.

[0056] Shaft-type parts require numerous machining processes and high precision, and the placement angles are also challenging. Therefore, frequent changes in process steps are necessary, and high positioning accuracy is required due to positional and angular limitations.

[0057] The multifunctional robotic arm in this embodiment utilizes a vertical lifting and horizontal traversing mechanism 1, a 360-degree rotation mechanism 2, and a rotating mechanism 3. The 360-degree rotation mechanism 2 can rotate 360 ​​degrees along its axis, and the rotating mechanism 3 can rotate and swing within a range along its axis. The axes of the 360-degree rotation mechanism 2 and the rotating mechanism 3 are perpendicular to each other, allowing the gripper mechanism 4 to move vertically, horizontally, and rotate into position after grasping the bar stock. This enables fully automatic bar stock feeding, effectively solving the problem of long-term single-arm robotic arms removing bar stock products from the material box and placing them on the feeding mechanism at any angle without affecting the transfer of the workpiece to the next workstation. Moreover, the hand does not need to touch the bar stock from beginning to end, thereby reducing the labor intensity of personnel, saving labor costs, improving processing efficiency, and saving bar stock manufacturing costs.

[0058] like Figures 1 to 4 As shown, the vertical lifting and horizontal moving mechanism 1 includes a horizontal support 11, a lifting column 12, and a mounting base 13. The mounting base 13 is connected to the horizontal support 11 and can move horizontally on the horizontal support 11. The lifting column 12 is connected to the mounting base 13 and can move up and down on the mounting base 13. A 360-degree rotation mechanism 2 is connected to the bottom of the lifting column 12. When the gripper mechanism 4 picks up the bar stock, the mounting base 13, connected to the horizontal support 11, can move horizontally on the horizontal support 11, driving the lifting column 12, the 360-degree rotation mechanism 2, the rotation mechanism 3, the gripper mechanism 4, and the bar stock to move horizontally together. The lifting column 12 can move up and down on the mounting base 13, driving the 360-degree rotation mechanism 2, the rotation mechanism 3, the gripper mechanism 4, and the bar stock to move up and down together; thus realizing the vertical lifting and horizontal moving of the bar stock. Furthermore, the overall structure of the vertical lifting and horizontal moving mechanism 1 is simple, easy to assemble, and low in cost.

[0059] The mounting base 13 moves horizontally left and right on the horizontal support 11, and the lifting column 12 moves up and down on the mounting base 13. The two can be used independently or operate synchronously. The vertical lifting and horizontal moving mechanism 1 includes multiple support columns 16, which are spaced apart, and the horizontal support 11 is connected to the top of the multiple support columns 16.

[0060] The horizontal support 11 has a horizontal rack 111, and the lifting column 12 has a vertical rack 121. The vertical lifting and horizontal moving mechanism 1 also includes a horizontal motor 14 and a lifting motor 15. Both the horizontal motor 14 and the lifting motor 15 are mounted on the mounting base 13. The horizontal motor 14 meshes with the horizontal rack 111 and is used to drive the mounting base 13 to move horizontally. The lifting motor 15 meshes with the vertical rack 121 and is used to drive the lifting column 12 to move vertically up and down. The horizontal motor 14 and the lifting motor 15 provide driving force. The gear on the movable end of the horizontal motor 14 meshes with the horizontal rack 111. When the gripper mechanism 4 needs to move horizontally left and right after picking up the bar, the horizontal motor 14 drives the gear. The rotation of the horizontal motor 14 causes the gear on the horizontal motor 14 to move horizontally on the horizontal rack 111, thereby driving the mounting base 13 to move horizontally on the horizontal support 11, so that the entire robotic arm can move horizontally left and right. The gear on the movable end of the lifting motor 15 meshes with the vertical rack 121. When the gripper mechanism 4 needs to lift up and down after picking up the bar, the lifting motor 15 drives the gear. The rotation of the lifting motor 15 causes the gear on the lifting motor 15 to move up and down on the vertical rack 121, thereby driving the lifting column 12 to move up and down on the mounting base 13, so that the entire robotic arm can move up and down.

[0061] The horizontal support 11 has at least one horizontal guide rail 112, the lifting column 12 has at least one vertical guide rail 122, and the mounting base 13 has at least one first slider 131 and at least one second slider 132. The first slider 131 is connected to the horizontal guide rail 112 and moves horizontally on it. The second slider 132 is connected to the vertical guide rail 122 and moves up and down on it. The horizontal guide rail 112 provides guidance, allowing the first slider 131 to move horizontally on it, effectively preventing the mounting base 13 from shifting or misaligning during left and right movements, thus improving stability. The vertical guide rail 122 also provides guidance, allowing the second slider 132 to move up and down on it, effectively preventing the lifting column 12 from shifting or misaligning during its movement, thus improving stability.

[0062] There are two horizontal guide rails 112, and both horizontal guide rails 112 and horizontal racks 111 extend along the length of the horizontal support 11. There is one horizontal rack 111, which is located between the two horizontal guide rails 112. There are four vertical guide rails 122, and every two vertical guide rails 122 are located on both sides of the lifting column 12.

[0063] like Figure 5 and Figure 7As shown, the 360-degree rotation mechanism 2 includes a drive motor 21, a gear 22, and a rotating outer ring 23. The fixed end of the drive motor 21 is connected to the bottom of the lifting column 12. The rotating outer ring 23 is rotatably connected to the bottom of the lifting column 12, and the rotation mechanism 3 is connected to the rotating outer ring 23. The inner wall surface of the rotating outer ring 23 has an internal tooth 231, which meshes with the gear 22. The movable end of the drive motor 21 is connected to the gear 22 and drives the gear 22 to rotate, so that the rotating outer ring 23 rotates 360 degrees along the axis of the rotating outer ring 23. The axis of the 360-degree rotation mechanism 2 extends along the length of the lifting column 12. The drive motor 21 provides the driving force. When the bar needs to rotate 360 ​​degrees around the lifting column 12, the drive motor 21 rotates the gear 22. The rotation of the gear 22 drives the outer rotating ring 23 to rotate. Under the drive of the outer rotating ring 23, the rotation mechanism 3, the gripper mechanism 4, and the bar rotate together, thereby achieving the required rotation angle for the bar. Furthermore, the 360-degree rotation mechanism 2 has a simple overall structure, is easy to assemble, and has low cost.

[0064] like Figure 4 , Figure 5 and Figure 6 As shown, the rotating mechanism 3 includes a mounting bracket 33, a rotating shaft 32, and a rotating motor 31. The fixed end of the rotating motor 31 is connected to the lifting column 12, and the movable end of the rotating motor 31 has a first bevel gear 311. The mounting bracket 33 is connected to the bottom of the rotating outer ring 23. The rotating shaft 32 is rotatably connected inside the mounting bracket 33. The gripper mechanism 4 is connected to the rotating shaft 32. The outer circumferential surface of the rotating shaft 32 has a second bevel gear 321. The second bevel gear 321 meshes with the first bevel gear 311 to form a 90-degree angle. The rotating motor 31 drives the first bevel gear 311 to rotate, thereby driving the second bevel gear 321, the rotating shaft 32, and the gripper mechanism 4 to rotate and swing along the axis of the rotating shaft 32.

[0065] The second bevel gear 321 meshes with the first bevel gear 311 to form a 90-degree angle, making the length direction of the rotating shaft 32 perpendicular to the axis of the 360-degree self-rotating mechanism 2. The rotary motor 31 provides rotational driving force and drives the first bevel gear 311 to rotate, and through the second bevel gear 321 drives the rotating shaft 32 to rotate along its axis, thereby driving the gripper mechanism 4 to rotate and swing along the axis of the rotating shaft 32. This improves the positional accuracy of picking up and putting down materials, effectively avoids errors in the processing position each time, thereby improving processing efficiency and greatly saving labor costs.

[0066] The mounting bracket 33 has a swing groove 331. One end of the gripper mechanism 4 extends into the swing groove 331 and rotates within it. The other end of the gripper mechanism 4 protrudes from the outer surface of the mounting bracket 33 and is used for picking up and placing bar stock. A rotating shaft 32 is rotatably mounted on the mounting bracket 33 and drives the gripper mechanism 4 to rotate within the swing groove 331, allowing the entire gripper mechanism 4 to rotate within a range, thus achieving a gripping effect that a straight-up-and-down mechanical gripper cannot. This effectively improves the positional accuracy of picking up and placing materials, avoids errors in the processing position each time, thereby increasing processing efficiency and saving labor costs.

[0067] In this embodiment, there are two gripper mechanisms 4, and both gripper mechanisms 4 are connected to the rotating shaft 32.

[0068] like Figure 5 , Figure 6 and Figure 7 As shown, the gripper mechanism 4 includes a gripper frame 41, a gripping motor 42, and two grippers 43. The gripper frame 41 is connected to the rotating shaft 32, and the gripping motor 42 is connected to the gripper frame 41. The movable end of the gripping motor 42 is connected to the two grippers 43 and is used to drive the two grippers 43 to move closer together or open apart. The gripper frame 41 is mounted on the rotating shaft 32. The gripping motor 42 provides driving force and is used to drive the two grippers 43 to move closer together, thereby gripping the bar material. The gripping motor 42 drives the two grippers 43 to open apart, causing the two grippers 43 to lower the bar material.

[0069] The gripper mechanism 4 also includes a positioning component for positioning. This positioning component can be a telescopic positioning cylinder. When the bar stock is conveyed to the picking and positioning point of the gripper mechanism 4 on the conveyor, the gripper mechanism 4 picks up the stock. Before picking up the stock, the positioning cylinder extends to achieve positioning. After the gripper 43 picks up the stock, the positioning cylinder retracts. Under this dual positioning, the position of the gripper 43 when picking up and placing the stock is always the same.

[0070] The above-disclosed embodiments are merely preferred embodiments of the present utility model and should not be construed as limiting the scope of the present utility model. Therefore, any equivalent variations made in accordance with the claims of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A multifunctional robotic arm, characterized in that, It includes a vertical lifting and horizontal traversing mechanism, a 360-degree rotation mechanism, a rotating mechanism, and a gripper mechanism for picking up and placing bar stock. The rotating mechanism is connected to the gripper mechanism and is used to drive the gripper mechanism to rotate and swing along the axis of the rotating mechanism. The bottom of the 360-degree rotation mechanism is connected to the rotating mechanism and can drive the rotating mechanism and the gripper mechanism to rotate 360 ​​degrees along the axis of the 360-degree rotation mechanism. The axis of the 360-degree rotation mechanism is perpendicular to the axis of the rotating mechanism. The vertical lifting and horizontal traversing mechanism is connected to the top of the 360-degree rotation mechanism and is used to drive the 360-degree rotation mechanism, the rotating mechanism, and the gripper mechanism to rise and fall and move horizontally.

2. The multifunctional robotic arm as described in claim 1, characterized in that, The vertical lifting and horizontal moving mechanism includes a horizontal support, a mounting base, and a lifting column. The mounting base is connected to the horizontal support and can move horizontally on the horizontal support. The lifting column is connected to the mounting base and can move up and down on the mounting base. The 360-degree rotation mechanism is connected to the bottom of the lifting column.

3. The multifunctional robotic arm as described in claim 2, characterized in that, The horizontal support has a horizontal rack, the lifting column has a vertical rack, and the up-down lifting and left-right lateral movement mechanism also includes a horizontal motor and a lifting motor. The horizontal motor and the lifting motor are both mounted on the mounting base. The horizontal motor meshes with the horizontal rack and is used to drive the mounting base to move horizontally. The lifting motor meshes with the vertical rack and is used to drive the lifting column to move vertically up and down.

4. The multifunctional robotic arm as described in claim 3, characterized in that, The horizontal support has at least one horizontal guide rail, the lifting column has at least one vertical guide rail, and the mounting base has at least one first slider and at least one second slider. The first slider is connected to the horizontal guide rail and moves horizontally on the horizontal guide rail, while the second slider is connected to the vertical guide rail and moves up and down on the vertical guide rail.

5. The multifunctional robotic arm as described in claim 2, characterized in that, The 360-degree rotation mechanism includes a drive motor, a gear, and a rotating outer ring. The fixed end of the drive motor is connected to the bottom of the lifting column. The rotating outer ring is rotatably connected to the bottom of the lifting column, and the rotation mechanism is connected to the rotating outer ring. The inner wall surface of the rotating outer ring has internal teeth that mesh with the gear. The movable end of the drive motor is connected to the gear and drives the gear to rotate, so that the rotating outer ring rotates 360 degrees along its axis.

6. The multifunctional robotic arm as described in claim 5, characterized in that, The rotating mechanism includes a mounting bracket, a rotating shaft, and a rotating motor. The fixed end of the rotating motor is connected to the lifting column, and the movable end of the rotating motor has a first bevel gear. The mounting bracket is connected to the bottom of the outer rotating ring, and the rotating shaft is rotatably connected inside the mounting bracket. The gripper mechanism is connected to the rotating shaft, and the outer circumferential surface of the rotating shaft has a second bevel gear. The second bevel gear meshes with the first bevel gear to form a 90-degree angle. The rotating motor drives the first bevel gear to rotate, thereby causing the second bevel gear, the rotating shaft, and the gripper mechanism to rotate and swing along the axis of the rotating shaft.

7. The multifunctional robotic arm as described in claim 6, characterized in that, The mounting bracket has a swing groove. One end of the gripper mechanism extends into the swing groove and rotates within it. The other end of the gripper mechanism protrudes from the outer surface of the mounting bracket and is used to pick up and put down bar stock.

8. The multifunctional robotic arm as described in claim 6, characterized in that, The gripper mechanism includes a gripper frame, a gripping motor, and two grippers. The gripper frame is connected to the rotating shaft, and the gripping motor is connected to the gripper frame. The movable end of the gripping motor is connected to the two grippers and is used to drive the two grippers to move closer together or open apart.

Images