A robot

Abstract

The utility model relates to a mechanical hand, and front and rear walking units are installed on the base, first left and right walking units and second left and right walking units are installed on the front and rear walking units, first up and down walking units are installed on the first left and right walking units, and second up and down walking units are installed on the second left and right walking units. The first posture shaft is installed at the lower end of the first up and down walking unit, and the second posture shaft is installed at the lower end of the second up and down walking unit. The lower end of the first posture shaft is provided with the rotatable first mounting plate, the lower end of the second posture shaft is provided with the rotatable second mounting plate, and the first mounting plate and the second mounting plate are used for installing the clamp. The mechanical hand can realize more complex movement, insertion action, and after product taking out, can cooperate with external equipment to realize some product shearing, laser marking and boxing actions, so that product production to delivery is automatically completed.

Description

Technical Field

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

[0002] Industrial injection molding machines, also known as injection molding machines or injection molding machines, are the main molding equipment used to produce various shapes of plastic products from thermoplastic or thermosetting plastics using plastic molds. Industrial injection molding machines are classified as vertical, horizontal, and all-electric. They heat the plastic, apply high pressure to the molten plastic, and inject it to fill the mold cavity. After the product is molded, a robotic arm is needed to remove it and place it in a packaging area. Existing robotic arms typically have five axes: one horizontal axis, two forward / backward axes, and two vertical axes. These five-axis robotic arms cannot achieve precise product handling and cannot meet the demands of high-precision automation. Utility Model Content

[0003] This invention addresses the technical problem that existing five-axis robotic arms cannot accurately pick up products, thus failing to meet the high-precision development needs of automated equipment, by providing a robotic arm.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A robotic arm includes: a base, a forward and backward travel unit, a first left and right travel unit, a second left and right travel unit, a first up and down travel unit, a second up and down travel unit, a first posture axis, and a second posture axis; The forward and backward walking units are mounted on the base; The first left-right walking unit and the second left-right walking unit are mounted on the front-back walking unit; The first vertical walking unit is mounted on the first horizontal walking unit; the second vertical walking unit is mounted on the second horizontal walking unit; the first posture axis is mounted at the lower end of the first vertical walking unit, and the second posture axis is mounted at the lower end of the second vertical walking unit. A rotatable first mounting plate is mounted on the lower end of the first posture axis, and a rotatable second mounting plate is mounted on the lower end of the second posture axis. The first and second mounting plates are used to mount the fixture.

[0005] Furthermore, the forward and backward walking unit includes: a first slide rail, a first slider, a first motor drive assembly, and a forward and backward walking body; The first slide rail is fixed on the base, and the first slider is disposed on the first slide rail; the forward and backward traveling body is fixed on the first slider; The first motor drive assembly is connected to the first slider, and the first motor drive assembly is used to drive the first slider to move linearly; The first left and right walking unit and the second left and right walking unit are mounted on the front and rear walking body.

[0006] Furthermore, the first left and right walking unit includes: a second slide rail, a second slider, a second motor drive assembly, and a first left and right walking body; The second slide rail is fixed to the front and rear traveling bodies and is perpendicular to the first slide rail; the second slider is disposed on the second slide rail; the first left and right traveling bodies are fixed on the second slider. The second motor drive assembly is connected to the second slider, and the second motor drive assembly is used to drive the second slider to move linearly; The first vertical walking unit is mounted on the first horizontal walking body.

[0007] Furthermore, the second left and right walking unit includes: a third slide rail, a third slider, a third motor drive assembly, and a second left and right walking body; The third slide rail is fixed on the front and rear traveling bodies, and is perpendicular to the first slide rail. The third slide rail and the second slide rail are connected and arranged on the same straight line. The third slider is disposed on the third slide rail. The second left and right traveling bodies are fixed on the third slider. The third motor drive assembly is connected to the third slider, and the third motor drive assembly is used to drive the third slider to move linearly; The second vertical walking unit is installed on the second horizontal walking body.

[0008] Furthermore, the first vertical movement unit includes: a fourth slide rail, a fourth slider, a fourth motor drive assembly, and a first vertical movement body; The fourth slide rail is fixed on the first left and right moving body, and the fourth slide rail is perpendicular to the first slide rail, the second slide rail and the third slide rail; the fourth slider is disposed on the fourth slide rail; the first up and down moving body is fixed on the fourth slider, and the fourth motor drive assembly is used to drive the fourth slider to move linearly; The first posture axis is mounted on the first vertical walking unit.

[0009] Furthermore, the second vertical movement unit includes: a fifth slide rail, a fifth slider, a fifth motor drive assembly, and a second vertical movement body; The fifth slide rail is fixed on the second left and right traveling body, and the fifth slide rail is perpendicular to the first slide rail, the second slide rail and the third slide rail; the fifth slider is disposed on the fifth slide rail; the second up and down traveling body is fixed on the fifth slider, and the fifth motor drive assembly is used to drive the fifth slider to move linearly; The second posture axis is mounted on the second vertical walking unit.

[0010] Compared with the prior art, the robotic arm provided by this utility model has the following beneficial effects: The robotic arm provided by this utility model has a forward and backward traveling unit mounted on a base, which travels linearly in the forward and backward direction on the base. A first left-right traveling unit and a second left-right traveling unit are mounted on the forward and backward traveling unit, and travel linearly in the left-right direction on the forward and backward traveling unit. A first posture axis is mounted at the lower end of a first up-down traveling unit, and a second posture axis is mounted at the lower end of a second up-down traveling unit. The first up-down traveling unit is mounted on the first left-right traveling unit and travels vertically within the first left-right traveling unit; the second up-down traveling unit is mounted on the second left-right traveling unit and travels vertically within the second left-right traveling unit. A rotatable first mounting plate is mounted at the lower end of the first posture axis, and a rotatable second mounting plate is mounted at the lower end of the second posture axis. The first and second mounting plates are used to mount grippers. Compared to traditional five-axis robotic arms, the robotic arm provided by this utility model is also equipped with a first posture axis and a second posture axis. A rotatable first mounting plate is set on the first posture axis, and a rotatable second mounting plate is set on the second posture axis. The first and second mounting plates are used to install fixtures, which can realize more complex movements and insertion actions. After the product is taken out, it can cooperate with external equipment to realize some product cutting, laser marking and boxing actions, so that the product can be fully automated from production to shipment. Attached Figure Description

[0011] Figure 1 A schematic diagram of the robotic arm structure provided for an embodiment of this utility model; Figure 2 A schematic diagram of the second posture axis structure provided in an embodiment of this utility model.

[0012] Among them, 1-base, 2-front and rear walking unit, 3-first left and right walking unit, 4-first up and down walking unit, 5-second left and right walking unit, 6-second up and down walking unit, 7-first posture axis, 8-first mounting plate, 9-second posture axis, 10-second mounting plate. Detailed Implementation

[0013] To facilitate understanding of this utility model, a more complete description will be given below with reference to the accompanying drawings. Embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this utility model will be more thorough and complete.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0015] It is understood that spatial relation terms such as "below," "under," "below," "below," "above," "above," etc., can be used here to describe the relationship between one element or feature shown in the figure and other elements or features. It should be understood that, in addition to the orientation shown in the figure, spatial relation terms also include different orientations of the device in use and operation. For example, if the device in the figure is flipped, the element or feature described as "below" or "below" of the other element or feature will be oriented "above" the other element or feature. Therefore, the exemplary terms "below" and "below" can include both upper and lower orientations. Furthermore, the device may also include other orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptive terms used herein will be interpreted accordingly.

[0016] It should be noted that when one element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediary element.

[0017] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0018] See Figure 1 and Figure 2 This utility model embodiment provides a robotic arm, which mainly includes: a base 1, a forward and backward walking unit 2, a first left and right walking unit 3, a second left and right walking unit 5, a first up and down walking unit 4, a second up and down walking unit 6, a first posture axis 7, and a second posture axis 9, etc. The functions and positional relationships of each component are as follows: A forward and backward traveling unit 2 is mounted on a base 1, and travels linearly in the forward and backward direction of the base 1. A first left and right traveling unit 3 and a second left and right traveling unit 5 are mounted on the forward and backward traveling unit 2, arranged side by side, and travel linearly in the left and right direction of the forward and backward traveling unit 2. A first up and down traveling unit 4 is mounted on the first left and right traveling unit 3, and travels vertically in the up and down direction of the first left and right traveling unit 3; a second up and down traveling unit 6 is mounted on the second left and right traveling unit 5, and travels vertically in the up and down direction of the second left and right traveling unit 5. A first posture axis 7 is mounted at the lower end of the first up and down traveling unit 4, and a second posture axis 9 is mounted at the lower end of the second up and down traveling unit 6; a rotatable first mounting plate 8 is mounted at the lower end of the first posture axis 7, and a rotatable second mounting plate 10 is mounted at the lower end of the second posture axis 9; the first mounting plate 8 and the second mounting plate 10 are used to mount clamps. The first mounting plate 8 and the second mounting plate 10 are driven to rotate by motors. The rotation direction can be rotated a certain angle in the forward direction or a certain angle in the reverse direction around the corresponding posture axis, so as to achieve fine adjustment of the position of multiple fixtures.

[0019] In a preferred embodiment of this utility model, the forward and backward traveling unit 2 includes: a first slide rail, a first slider, a first motor drive assembly, and a forward and backward traveling body. The first slide rail is fixed on the base 1, and the first slider is disposed on the first slide rail, allowing the first slider to move linearly along the first slide rail. The forward and backward traveling body is fixed on the first slider, and the movement of the first slider drives the forward and backward traveling body to move synchronously. The first motor drive assembly is connected to the first slider and is used to drive the first slider to move linearly. The first motor drive assembly adopts a transmission structure such as a motor and a lead screw. The first left and right traveling unit 3 and the second left and right traveling unit 5 are mounted on the forward and backward traveling body.

[0020] The first left-right traveling unit 3 includes: a second slide rail, a second slider, a second motor drive assembly, and a first left-right traveling body. The second slide rail is fixed to the front and rear traveling bodies and is perpendicular to the first slide rail. The second slider is mounted on the second slide rail and can move linearly along it. The first left-right traveling body is fixed to the second slider, and the second slider drives the first left-right traveling body to move synchronously during its movement. The second motor drive assembly is connected to the second slider and is used to drive the second slider to move linearly. The second motor drive assembly adopts a transmission structure such as a motor and a lead screw. The first up-down traveling unit 4 is mounted on the first left-right traveling body.

[0021] The second left-right traveling unit 5 includes: a third slide rail, a third slider, a third motor drive assembly, and a second left-right traveling body. The third slide rail is fixed to the front and rear traveling bodies, and is perpendicular to the first slide rail. The third slide rail and the second slide rail are connected and aligned on the same straight line. The third slider is mounted on the third slide rail and can move linearly along it. The second left-right traveling body is fixed to the third slider, and during its movement, the third slider drives the second left-right traveling body to move synchronously. The third motor drive assembly is connected to the third slider and is used to drive the third slider to move linearly. The third motor drive assembly uses a motor and a lead screw transmission structure. The second up-down traveling unit 6 is mounted on the second left-right traveling body.

[0022] The first vertical moving unit 4 includes: a fourth slide rail, a fourth slider, a fourth motor drive assembly, and a first vertical moving body. The fourth slide rail is fixed to the first left and right moving body and is perpendicular to the first, second, and third slide rails. The fourth slider is mounted on the fourth slide rail and can move linearly along it. The first vertical moving body is fixed to the fourth slider, and the fourth slider drives the first vertical moving body to move synchronously during its movement. The fourth motor drive assembly drives the fourth slider to move linearly. A first posture axis 7 is connected to the first vertical moving body.

[0023] The second vertical moving unit 6 includes a fifth slide rail, a fifth slider, a fifth motor drive assembly, and a second vertical moving body. The fifth slide rail is fixed to the second horizontal moving body and is perpendicular to the first, second, and third slide rails. The fifth slider is mounted on the fifth slide rail and can move linearly along it. The second vertical moving body is fixed to the fifth slider, and the fifth slider drives the second vertical moving body to move synchronously during its movement. The fifth motor drive assembly drives the fifth slider to move linearly. The second posture axis 9 is connected to the second vertical moving body.

[0024] See Figure 1 and Figure 2 The robotic arm provided by this utility model embodiment has the following beneficial effects: The robotic arm provided in this embodiment of the utility model has a forward and backward walking unit 2 mounted on a base 1, which moves linearly forward and backward on the base 1. A first left and right walking unit 3 and a second left and right walking unit 5 are mounted on the forward and backward walking unit 2, and move linearly left and right on the forward and backward walking unit 2. A first posture axis 7 is mounted at the lower end of a first up and down walking unit 4, and a second posture axis 9 is mounted at the lower end of a second up and down walking unit 6. A rotatable first mounting plate 8 is mounted at the lower end of the first posture axis 7, and a rotatable second mounting plate 10 is mounted at the lower end of the second posture axis 9. The first mounting plate 8 and the second mounting plate 10 are used to mount clamps. Compared to traditional five-axis robotic arms, the robotic arm provided by this utility model is also equipped with a first posture axis 7 and a second posture axis 9. A rotatable first mounting plate 8 is provided on the first posture axis 7, and a rotatable second mounting plate 10 is provided on the second posture axis 9. The first mounting plate 8 and the second mounting plate 10 are used to install fixtures, which can realize more complex movements and insertion actions. After the product is taken out, it can cooperate with external equipment to realize some product cutting, laser marking and boxing actions, so that the product can be fully automated from production to shipment.

[0025] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm, characterized in that: include: Base, forward and backward walking unit, first left and right walking unit, second left and right walking unit, first up and down walking unit, second up and down walking unit, first posture axis and second posture axis; The forward and backward walking units are mounted on the base; The first left-right walking unit and the second left-right walking unit are mounted on the front-back walking unit; The first vertical walking unit is mounted on the first horizontal walking unit; the second vertical walking unit is mounted on the second horizontal walking unit; the first posture axis is mounted at the lower end of the first vertical walking unit, and the second posture axis is mounted at the lower end of the second vertical walking unit. A rotatable first mounting plate is mounted on the lower end of the first posture axis, and a rotatable second mounting plate is mounted on the lower end of the second posture axis. The first and second mounting plates are used to mount the fixture.

2. The robotic arm according to claim 1, characterized in that: The forward and backward walking unit includes: a first slide rail, a first slider, a first motor drive assembly, and a forward and backward walking body; The first slide rail is fixed on the base, and the first slider is disposed on the first slide rail; the forward and backward traveling body is fixed on the first slider; The first motor drive assembly is connected to the first slider, and the first motor drive assembly is used to drive the first slider to move linearly; The first left and right walking unit and the second left and right walking unit are mounted on the front and rear walking body.

3. The robotic arm according to claim 2, characterized in that: The first left and right walking unit includes: a second slide rail, a second slider, a second motor drive assembly, and a first left and right walking body; The second slide rail is fixed to the front and rear traveling bodies and is perpendicular to the first slide rail; the second slider is disposed on the second slide rail; the first left and right traveling bodies are fixed on the second slider. The second motor drive assembly is connected to the second slider, and the second motor drive assembly is used to drive the second slider to move linearly; The first vertical walking unit is mounted on the first horizontal walking body.

4. The robotic arm according to claim 3, characterized in that: The second left and right walking unit includes: a third slide rail, a third slider, a third motor drive assembly, and a second left and right walking body; The third slide rail is fixed on the front and rear traveling bodies, and is perpendicular to the first slide rail. The third slide rail and the second slide rail are connected and arranged on the same straight line. The third slider is disposed on the third slide rail. The second left and right traveling bodies are fixed on the third slider. The third motor drive assembly is connected to the third slider, and the third motor drive assembly is used to drive the third slider to move linearly; The second vertical walking unit is installed on the second horizontal walking body.

5. The robotic arm according to claim 4, characterized in that: The first vertical movement unit includes: a fourth slide rail, a fourth slider, a fourth motor drive assembly, and a first vertical movement body; The fourth slide rail is fixed on the first left and right moving body, and the fourth slide rail is perpendicular to the first slide rail, the second slide rail and the third slide rail; the fourth slider is disposed on the fourth slide rail; the first up and down moving body is fixed on the fourth slider, and the fourth motor drive assembly is used to drive the fourth slider to move linearly; The first posture axis is mounted on the first vertical walking unit.

6. The robotic arm according to claim 5, characterized in that: The second vertical movement unit includes: a fifth slide rail, a fifth slider, a fifth motor drive assembly, and a second vertical movement body; The fifth slide rail is fixed on the second left and right traveling body, and the fifth slide rail is perpendicular to the first slide rail, the second slide rail and the third slide rail; the fifth slider is disposed on the fifth slide rail; the second up and down traveling body is fixed on the fifth slider, and the fifth motor drive assembly is used to drive the fifth slider to move linearly; The second posture axis is mounted on the second vertical walking unit.

Images