A three-dimensional robotic arm

Abstract

This utility model discloses a three-dimensional robotic arm, comprising a Z-axis base plate with a side parallel to the Z-axis; a Z-axis motor fixedly mounted on the Z-axis base plate; Z-axis guide rails fixedly mounted on the Z-axis base plate and located on both sides of the Z-axis motor; Z-axis slide plates slidably connected to the Z-axis guide rails; the Z-axis motor drives the Z-axis slide plates to move via a transmission component; and a Z-axis counterweight telescopic component, one end of which is mounted on the Z-axis base plate and the other end of which is fixedly connected to the Z-axis slide plate. When the Z-axis motor drives the Z-axis slide plate to move, the Z-axis counterweight telescopic component assists the Z-axis motor in driving the X-axis drive and Y-axis drive components on the Z-axis slide plate to move. When lifting is required, the Z-axis counterweight telescopic component retracts to assist in lifting, which not only reduces the energy consumption of the Z-axis motor but also makes the Z-axis movement more responsive and faster, with even lower energy consumption.

Description

Technical Field

[0001] This utility model belongs to the field of machining equipment, and specifically relates to a three-dimensional robotic arm. Background Technology

[0002] In the stamping industry, to achieve continuous mass production on a stamping press, it is often necessary to develop corresponding progressive dies. The transfer of products between workstations requires the use of three-dimensional robotic arms. Due to the complex structure of three-dimensional robotic arms, their weight is relatively large when moving up and down. To reduce energy consumption, counterweights are often added. However, the counterweights need to be able to move in the opposite direction as the robotic arm moves up and down, which makes the installation structure of the counterweights complex and increases the manufacturing cost and installation difficulty of the robotic arm. Summary of the Invention

[0003] The purpose of this invention is to provide a more energy-efficient three-dimensional robotic arm.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: a three-dimensional manipulator, comprising: a clamping rod assembly and a three-dimensional drive mechanism. The clamping rod assembly includes a first clamping rod and a second clamping rod arranged in parallel. The three-dimensional drive mechanism is used to drive the clamping rod assembly to move in the X-axis, Y-axis, and Z-axis directions, with the X-axis, Y-axis, and Z-axis directions being perpendicular to each other. The three-dimensional drive mechanism includes a Z-axis drive unit, an X-axis drive unit mounted on the Z-axis drive unit, and a Y-axis drive unit mounted on the X-axis drive unit. The first clamping rod and the second clamping rod are mounted on the Y-axis drive unit.

[0005] The Z-axis driving unit includes:

[0006] Z-axis substrate, which has a side surface parallel to the Z-axis;

[0007] The Z-axis motor is fixedly mounted on the Z-axis base plate.

[0008] Z-axis guide rails are fixedly mounted on the Z-axis base plate and located on both sides of the Z-axis motor;

[0009] Z-axis sliding plates are slidably connected to the Z-axis guide rails, and the Z-axis motor drives the Z-axis sliding plates to move through the transmission components.

[0010] The Z-axis drive unit also includes a Z-axis counterweight telescopic component, one end of which is mounted on the Z-axis base plate, and the other end of which is fixedly connected to the Z-axis slide plate.

[0011] In another embodiment, the Z-axis drive unit further includes a Z-axis rack, which is fixed on the Z-axis slide plate and arranged along the Z-axis direction. The Z-axis motor is connected to the Z-axis rack. When the Z-axis motor drives the rack to move along the Z-axis and thus drives the Z-axis slide plate to move, the Z-axis counterweight telescopic member assists the Z-axis motor in driving the X-axis drive unit and Y-axis drive unit on the Z-axis slide plate to move.

[0012] In another embodiment, the Z-axis drive unit further includes a Z-axis gearbox fixedly mounted on the Z-axis base plate, a first Z-axis rotating shaft and a second Z-axis rotating shaft rotatably connected to the Z-axis base plate and respectively located on both sides of the Z-axis gearbox and connected to the output shaft of the Z-axis gearbox, a first Z-axis gear mounted on the first Z-axis rotating shaft and meshing with one of the Z-axis racks, and a second Z-axis gear mounted on the second Z-axis rotating shaft and meshing with the other Z-axis rack; the axes of the first Z-axis rotating shaft, the second Z-axis rotating shaft, the first Z-axis gear and the second Z-axis gear are collinear and are all arranged along the X-axis direction, and the extension and retraction direction of the Z-axis counterweight telescopic member is along the Z-axis direction.

[0013] In another embodiment, the X-axis drive unit includes an X-axis base plate fixedly mounted on a Z-axis slide plate on both sides of a Z-axis motor, an X-axis motor fixedly mounted on the X-axis base plate, and a first Y-axis base plate and a second Y-axis base plate slidably connected along the X-axis to the X-axis base plate and respectively located on both sides of the X-axis motor in the Y-direction. The Y-axis drive unit is respectively mounted on the first Y-axis base plate and the second Y-axis base plate. The X-axis motor is drively connected to the first Y-axis base plate and the second Y-axis base plate. The X-axis motor drives the first Y-axis base plate and the second Y-axis base plate located on both sides to move towards each other or away from each other, thereby driving the Y-axis drive units on each of the first Y-axis base plate and the second Y-axis base plate to move with the X-axis slide plate, thereby realizing that the Y-axis drive unit drives the first clamping rod and the second clamping rod of the Y-axis drive unit to move closer to each other or further away from each other in the X-direction.

[0014] In another embodiment, the X-axis substrate has an X-axis mounting groove extending along the Z-axis. The X-axis driving unit further includes a first X-axis guide rail and a second X-axis guide rail respectively disposed on both sides of the X-axis mounting groove in the Y-axis direction, a first X-axis slider and a second X-axis slider slidably mounted on the first X-axis guide rail, a third X-axis slider and a fourth X-axis slider slidably mounted on the second X-axis guide rail, a first X-axis rack fixedly connected to the first Y-axis substrate and located above the X-axis substrate, a second X-axis rack fixedly connected to the second Y-axis substrate and located above the X-axis substrate, and an X-axis gear disposed on the X-axis motor and meshing with the first X-axis rack and the second X-axis rack. A first clamping rod is connected to the first X-axis slider and the third X-axis slider through the Y-axis driving unit, and a second clamping rod is connected to the second X-axis slider and the fourth X-axis slider through the Y-axis driving unit. The rotation of the X-axis gear drives the first X-axis rack and the second X-axis rack to move closer to each other or further away from each other, thereby causing the first X-axis slider and the fourth X-axis slider to move closer to each other or further away from each other.

[0015] In another embodiment, the X-direction drive unit further includes a first X-direction guide wheel disposed on one side of the first X-direction rack and a second X-direction guide wheel disposed on one side of the second X-direction rack. The first X-direction guide wheel makes the first X-direction rack slide more smoothly on the X-direction substrate, and similarly, the second X-direction guide wheel makes the second X-direction rack slide more smoothly on the X-direction substrate.

[0016] In another embodiment, the Y-axis driving unit includes a first Y-axis slider mounted on the lower end surface of the first Y-axis substrate, a first Y-axis guide rail hung on and slidably connected to the first Y-axis slider, a first Y-axis rack fixed to the first clamping rod and arranged along the Y-axis, a first Y-axis motor mounted on the first Y-axis substrate, a first Y-axis gear connected to the first Y-axis motor and meshing with the first Y-axis rack, a second Y-axis slider mounted on the lower end surface of the second Y-axis substrate, a second Y-axis guide rail hung on and slidably connected to the second Y-axis slider, and a second Y-axis guide rail fixed to the second clamping rod and arranged along the Y-axis. The system comprises a rack, a second Y-axis motor mounted on the second Y-axis base plate, and a second Y-axis gear connected to the second Y-axis motor and meshing with the second Y-axis rack; a first Y-axis guide rail is fixed to the first clamping rod, and a second Y-axis guide rail is fixed to the second clamping rod. The first Y-axis guide rail is arranged along the Y-axis and slides along the Y-axis relative to the first Y-axis slider. The second Y-axis guide rail is arranged along the Y-axis and slides along the Y-axis relative to the second Y-axis slider. The first Y-axis motor drives the first Y-axis rack to move along the Y-axis, thereby driving the first clamping rod to move along the Y-axis. The second Y-axis motor drives the second Y-axis rack to move along the Y-axis, thereby driving the second clamping rod to move along the Y-axis.

[0017] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: When the Z-axis motor drives the Z-axis slide plate to move, the Z-axis counterweight telescopic component assists the Z-axis motor in driving the X-axis drive part and Y-axis drive part on the Z-axis slide plate to move. When it is necessary to lift, the Z-axis counterweight telescopic component retracts to assist in lifting. When it is necessary to lower, the Z-axis counterweight telescopic component slowly extends, thereby reducing the output power required by the Z-axis motor. The Z-axis counterweight telescopic component can be a hydraulic cylinder, a pneumatic cylinder, or a linear motor, which can not only reduce the energy consumption of the Z-axis motor, but also make the Z-axis action more responsive and faster, and the energy consumption is also lower. Attached Figure Description

[0018] Figure 1 This is a perspective view of the present invention (where the Y-axis driving part is not shown);

[0019] Figure 2 This is a perspective view of one end of the present invention;

[0020] Figure 3 This is a perspective view of one end of the present invention from another angle;

[0021] Figure 4 for Figure 1 A partial view at the right center. Detailed Implementation

[0022] The present invention will be further described below with reference to the embodiments shown in the accompanying drawings.

[0023] See Figure 1-4 As shown, the three-dimensional manipulator includes: a clamping rod assembly A and a three-dimensional drive mechanism B disposed at both ends of the clamping rod assembly A. The clamping rod assembly includes a first clamping rod A1 and a second clamping rod A2 arranged in parallel. The three-dimensional drive mechanism is used to drive the clamping rod assembly to move in the X-axis, Y-axis and Z-axis directions, with the X-axis, Y-axis and Z-axis directions being perpendicular to each other. The three-dimensional drive mechanism includes a Z-axis drive unit 1, an X-axis drive unit 2 mounted on the Z-axis drive unit 1 and a Y-axis drive unit 3 mounted on the X-axis drive unit 2. The first clamping rod A1 and the second clamping rod A2 are mounted on the Y-axis drive unit 3.

[0024] Specifically, the Z-axis drive unit 1 includes: a Z-axis base plate 11, a Z-axis motor 12, a Z-axis guide rail 13, a Z-axis slide plate 14, a Z-axis rack 15, a Z-axis gearbox 16, a first Z-axis rotating shaft 17, a second Z-axis rotating shaft 18, a first Z-axis gear 19, a second Z-axis gear 110, and a Z-axis counterweight telescopic member 10; the Z-axis counterweight telescopic member 10 is a hydraulic cylinder or oil cylinder, and the Z-axis base plate 11 has a side parallel to the Z-axis; the Z-axis motor 12 is fixedly mounted on the Z-axis base plate 11, and the Z-axis guide rail 13 is fixedly mounted on the Z-axis base plate 11 and located on both sides of the Z-axis motor 12; the Z-axis slide plate 14 is slidably connected to the Z-axis guide rail 13, and the Z-axis motor 12 drives the Z-axis slide plate 14 to move through a transmission component; one end of the Z-axis counterweight telescopic member 10 is mounted on the Z-axis base plate 11, and the other end is fixedly connected to the Z-axis slide plate 14. Z-axis racks 15 are fixed on Z-axis slide plates 14 and arranged along the Z-axis direction. Z-axis motors 12 are connected to Z-axis racks 15. When Z-axis motors 12 drive racks to move along the Z-axis and thus drive Z-axis slide plates 14 to move, Z-axis counterweight telescopic members 10 assist Z-axis motors 12 in driving X-axis drive parts 2 and Y-axis drive parts 3 on Z-axis slide plates 14 to move. Z-axis gearbox 16 is fixedly mounted on Z-axis base plate 11. First Z-axis rotating shaft 17 and second Z-axis rotating shaft 18 are rotatably connected to Z-axis base plate 11 and are located on both sides of Z-axis gearbox 16 and connected to the output shaft of Z-axis gearbox 16. First Z-axis gear 19 is mounted on first Z-axis rotating shaft 17 and meshes with one of Z-axis racks 15. Second Z-axis gear 110 is mounted on second Z-axis rotating shaft 18 and meshes with the other Z-axis rack 15. The axes of first Z-axis rotating shaft 17, second Z-axis rotating shaft 18, first Z-axis gear 19 and second Z-axis gear 110 are collinear and are all arranged along the X-axis direction. The extension and retraction direction of Z-axis counterweight telescopic member 10 is along the Z-axis direction.

[0025] The X-axis drive unit 2 includes an X-axis base plate 21 fixedly mounted on the Z-axis slide plate 14 on both sides of the Z-axis motor 12, an X-axis motor 22 fixedly mounted on the X-axis base plate 21, an X-axis gear 218 mounted on the X-axis motor 22, and a first Y-axis base plate 31 and a second Y-axis base plate 32 slidably connected to the X-axis base plate 21 along the X-axis and respectively located on both sides of the X-axis motor 22 in the Y-axis direction. The Y-axis drive unit 3 is respectively mounted on the first Y-axis base plate 31 and the second Y-axis base plate 32. The X-axis motor 22 is connected to the first Y-axis base plate 31 and the second Y-axis base plate 32 in a transmission connection. The X-axis motor 22 drives the first Y-axis base plate 31 and the second Y-axis base plate 32 located on both sides to move towards each other or away from each other, thereby driving the Y-axis drive unit 3 on each of the first Y-axis base plate 31 and the second Y-axis base plate 32 to move with the X-axis slide plate 23, thereby realizing that the Y-axis drive unit 3 drives the first clamping rod A1 and the second clamping rod A2 of the Y-axis drive unit 3 to move closer to each other or further away from each other in the X-axis direction. The X-axis substrate 21 has an X-axis mounting groove 24 extending along the Z-axis. The X-axis driving unit 2 also includes a first X-axis guide rail 25 and a second X-axis guide rail 26 respectively disposed on both sides of the X-axis mounting groove 24 in the Y-axis direction, a first X-axis slider 27 and a second X-axis slider 28 slidably mounted on the first X-axis guide rail 25, a third X-axis slider 29 and a fourth X-axis slider 20 slidably mounted on the second X-axis guide rail 26, a first X-axis rack 210 fixedly connected to the first Y-axis substrate 31 and located above the X-axis substrate 21 via a first X-axis connecting block 215, and a second X-axis rack 210 fixedly connected to the second Y-axis substrate 32 and located above the X-axis substrate 21 via a second X-axis connecting block 216. The X-axis base plate 21 has a second X-axis rack 211 above it, an X-axis gear 212 mounted on the X-axis motor 22 and meshing with the first X-axis rack 210 and the second X-axis rack 211, a first X-axis guide wheel 213 on one side of the first X-axis rack 210, and a second X-axis guide wheel 214 on one side of the second X-axis rack 211. The first Y-axis base plate 31 is mounted on the first X-axis slider 27 and the third X-axis slider 29 and is located below the first X-axis slider 27 and the third X-axis slider 29. The second Y-axis base plate 32 is mounted on the second X-axis slider 28 and the fourth X-axis slider 20 and is located below the second X-axis slider 28 and the fourth X-axis slider 20.

[0026] The first clamping rod A1 is connected to the first X-axis slider 27 and the third X-axis slider 29 via the Y-axis drive unit 3. The second clamping rod A2 is connected to the second X-axis slider 28 and the fourth X-axis slider 20 via the Y-axis drive unit 3. The rotation of the X-axis gear 212 drives the first X-axis rack 210 and the second X-axis rack 211 to move closer or further apart, thereby causing the first X-axis slider 27 and the fourth X-axis slider 20 to move closer or further apart. The first X-axis guide wheel 213 makes the first X-axis rack 210 slide more smoothly on the X-axis substrate 21. Similarly, the second X-axis guide wheel 214 makes the second X-axis rack 211 slide more smoothly on the X-axis substrate 21.

[0027] The Y-axis drive unit 3 includes a first Y-axis slider 33 mounted on the lower end surface of the first Y-axis substrate 31, a first Y-axis guide rail 35 suspended on and slidably connected to the first Y-axis slider 33, a first Y-axis rack 37 fixed to the first clamping rod A1 and arranged along the Y-axis, a first Y-axis motor 311 mounted on the first Y-axis substrate 31, a first Y-axis gear 39 connected to the first Y-axis motor 311 and meshing with the first Y-axis rack 37, a second Y-axis slider 34 mounted on the lower end surface of the second Y-axis substrate 32, a second Y-axis guide rail 36 suspended on and slidably connected to the second Y-axis slider 34, a second Y-axis rack 38 fixed to the second clamping rod A2 and arranged along the Y-axis, and mounted on the second Y-axis substrate 32. The second Y-axis motor 312 and the second Y-axis gear connected to the second Y-axis motor 312 and meshing with the second Y-axis rack 38 are arranged in the same way as the first Y-axis gear 39 and are not shown in the figure. The first Y-axis guide rail 35 is fixed to the first clamping rod A1, and the second Y-axis guide rail 36 is fixed to the second clamping rod A2. The first Y-axis guide rail 35 is arranged along the Y-axis and slides along the Y-axis relative to the first Y-axis slider 33. The second Y-axis guide rail 36 is arranged along the Y-axis and slides along the Y-axis relative to the second Y-axis slider 34. The first Y-axis motor 311 drives the first Y-axis rack 37 to move along the Y-axis, thereby driving the first clamping rod A1 to move along the Y-axis. The second Y-axis motor 312 drives the second Y-axis rack 38 to move along the Y-axis, thereby driving the second clamping rod A2 to move along the Y-axis.

[0028] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: When the Z-axis motor 12 drives the Z-axis slide plate 14 to move, the Z-axis counterweight telescopic member 10 assists the Z-axis motor 12 in driving the X-axis drive part 2 and Y-axis drive part 3 on the Z-axis slide plate 14 to move. When it is necessary to lift, the Z-axis counterweight telescopic member 10 retracts to assist in lifting. When it is necessary to lower, the Z-axis counterweight telescopic member 10 slowly extends, thereby reducing the output power required by the Z-axis motor 12. The Z-axis counterweight telescopic member 10 can be a hydraulic cylinder, a pneumatic cylinder, or a linear motor, which can not only reduce the energy consumption of the Z-axis motor 12, but also make the Z-axis action more responsive and faster, and the energy consumption is also lower.

[0029] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. A three-dimensional robotic hand, comprising: The device includes a clamping rod assembly and a three-dimensional drive mechanism. The clamping rod assembly comprises a first clamping rod and a second clamping rod arranged in parallel. The three-dimensional drive mechanism is used to drive the clamping rod assembly to move in the X-axis, Y-axis, and Z-axis directions, with the X-axis, Y-axis, and Z-axis directions being perpendicular to each other. The three-dimensional drive mechanism includes a Z-axis drive unit, an X-axis drive unit mounted on the Z-axis drive unit, and a Y-axis drive unit mounted on the X-axis drive unit. The first clamping rod and the second clamping rod are mounted on the Y-axis drive unit. The Z-axis driving unit includes: Z-axis substrate, which has a side surface parallel to the Z-axis; The Z-axis motor is fixedly mounted on the Z-axis base plate. Z-axis guide rails are fixedly mounted on the Z-axis base plate and located on both sides of the Z-axis motor; Z-axis sliding plates are slidably connected to the Z-axis guide rails, and the Z-axis motor drives the Z-axis sliding plates to move through the transmission components. The feature is that the Z-axis drive unit further includes a Z-axis counterweight telescopic member, one end of which is mounted on the Z-axis base plate, and the other end of which is fixedly connected to the Z-axis slide plate.

2. The three-dimensional robotic arm according to claim 1, characterized in that: The Z-axis drive unit also includes a Z-axis rack, which is fixed on the Z-axis slide plate and arranged along the Z-axis direction. The Z-axis motor is connected to the Z-axis rack for transmission.

3. The three-dimensional robotic arm according to claim 2, characterized in that: The Z-axis drive unit further includes a Z-axis gearbox fixedly mounted on the Z-axis base plate, a first Z-axis rotating shaft and a second Z-axis rotating shaft rotatably connected to the Z-axis base plate and located on both sides of the Z-axis gearbox and connected to the output shaft of the Z-axis gearbox, a first Z-axis gear mounted on the first Z-axis rotating shaft and meshing with one of the Z-axis racks, and a second Z-axis gear mounted on the second Z-axis rotating shaft and meshing with the other Z-axis rack.

4. The three-dimensional robotic arm according to claim 1, characterized in that: The X-axis drive unit includes an X-axis base plate fixedly mounted on Z-axis slide plates on both sides of the Z-axis motor, an X-axis motor fixedly mounted on the X-axis base plate, and a first Y-axis base plate and a second Y-axis base plate slidably connected along the X-axis to the X-axis base plate and respectively located on both sides of the X-axis motor in the Y-direction. The Y-axis drive unit is respectively mounted on the first Y-axis base plate and the second Y-axis base plate, and the X-axis motor is drively connected to the first Y-axis base plate and the second Y-axis base plate.

5. The three-dimensional robotic arm according to claim 4, characterized in that: The X-axis substrate has an X-axis mounting groove extending along the Z-axis. The X-axis driving unit further includes a first X-axis guide rail and a second X-axis guide rail respectively disposed on both sides of the X-axis mounting groove in the Y-axis direction, a first X-axis slider and a second X-axis slider slidably mounted on the first X-axis guide rail, a third X-axis slider and a fourth X-axis slider slidably mounted on the second X-axis guide rail, a first X-axis rack fixedly connected to the first Y-axis substrate and located above the X-axis substrate, a second X-axis rack fixedly connected to the second Y-axis substrate and located above the X-axis substrate, and an X-axis gear disposed on the X-axis motor and meshing with the first X-axis rack and the second X-axis rack.

6. The three-dimensional robotic arm according to claim 5, characterized in that: The X-direction drive unit further includes a first X-direction guide wheel disposed on one side of the first X-direction rack, and a second X-direction guide wheel disposed on one side of the second X-direction rack.

7. The three-dimensional robotic arm according to claim 4, characterized in that: The Y-axis driving unit includes a first Y-axis slider mounted on the lower end surface of the first Y-axis substrate, a first Y-axis guide rail hung on and slidably connected to the first Y-axis slider, a first Y-axis rack fixed to the first clamping rod and arranged along the Y-axis, a first Y-axis motor mounted on the first Y-axis substrate, a first Y-axis gear connected to the first Y-axis motor and meshing with the first Y-axis rack, a second Y-axis slider mounted on the lower end surface of the second Y-axis substrate, a second Y-axis guide rail hung on and slidably connected to the second Y-axis slider, a second Y-axis rack fixed to the second clamping rod and arranged along the Y-axis, a second Y-axis motor mounted on the second Y-axis substrate, and a second Y-axis gear connected to the second Y-axis motor and meshing with the second Y-axis rack; the first Y-axis guide rail is fixed to the first clamping rod, the second Y-axis guide rail is fixed to the second clamping rod, the first Y-axis guide rail is arranged along the Y-axis and slides along the Y-axis relative to the first Y-axis slider, and the second Y-axis guide rail is arranged along the Y-axis and slides along the Y-axis relative to the second Y-axis slider.

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