Multi-axis robot structure

Abstract

The utility model discloses a kind of multi-axis mechanical hand structures, including fixed plate, the outer surface side of fixed plate is fixedly installed with cylinder seat, axial cylinder is fixedly installed on cylinder seat, the piston rod top end of axial cylinder is fixedly installed with mounting plate, motor base is fixedly installed on the outer wall of one side of mounting plate by bolt, servo motor is fixedly installed in motor base, the outside of motor base is provided with jaw seat, jaw seat adopts side "concave" type structure design, both ends of jaw seat are rotatably connected with motor base by rotating shaft and bearing, the output shaft of servo motor is connected with the rotating shaft of top end, the mechanical hand structure of the utility model has the multi-axis driving use effect of linear shaft and rotating shaft, can satisfy the mechanical hand driving use demand in most cases, effectively reduce use limitation, improve the rotation flexibility of mechanical hand.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a multi-axis manipulator structure. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain motion functions of a human hand and arm, and is used to grasp, transport objects or operate tools according to a fixed program. It is characterized in that various expected operations can be completed through programming, and its structure and performance have the respective advantages of human and manipulator robots; The prior art CN202020144832.1 discloses a manipulator, which includes a manipulator arm transmission shaft, a connecting member and a manipulator body. One end of the manipulator body is fixedly connected to the manipulator arm transmission shaft through the connecting member, and the manipulator arm transmission shaft is used to drive the manipulator body to move; The manipulator body includes: a mechanical palm and at least three mechanical fingers. The three mechanical fingers are movably arranged at the other end of the mechanical palm, one of the mechanical fingers is located on one side of the mechanical palm, the other two mechanical fingers are located on the other side of the mechanical palm, the other two mechanical fingers are respectively located on both sides of the one mechanical finger, and the three mechanical fingers are arranged in a triangular "pin" shape; The prior art operates flexibly and can realize fine movements such as holding, grasping, and pinching. Most manipulators are equipped with an external axial driving structure for axial driving and grasping during use. However, the driving structure of the manipulator in the prior art has a relatively complicated overall structure, high design and manufacturing difficulty, cannot meet the practical demand for simplification, and has certain usage deficiencies. For this reason, the utility model proposes a simplified multi-axis manipulator structure. Contents of the Invention

[0003] The purpose of the utility model is to provide a multi-axis manipulator structure to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the utility model provides the following technical solution: a multi-axis manipulator structure, comprising a fixed plate, a cylinder seat is fixedly installed on one side of the outer surface of the fixed plate, an axial cylinder is fixedly installed on the cylinder seat, a mounting plate is fixedly installed at the top end of the piston rod of the axial cylinder, a motor seat is fixedly installed on the outer wall of one side of the mounting plate through bolts, a servo motor is fixedly installed in the motor seat, a clamping jaw seat is arranged on the outer side of the motor seat, the clamping jaw seat is designed with a lateral "concave" structure, both ends of the clamping jaw seat are rotatably connected with the motor seat through rotating shafts and bearings, and the output shaft of the servo motor is connected with the rotating shaft at the top end.

[0005] Preferably, no less than two sets of clamping jaw mounting holes are opened on the outer wall of the clamping jaw seat, and the clamping jaw mounting holes are used for installing mechanical clamping jaws.

[0006] Preferably, two sets of guide plates are fixedly installed below the axial cylinder and on the outer surface sidewall of the fixed plate.

[0007] Preferably, a guide rod is fixedly installed on the outer wall of the mounting plate near the guide plate, and the guide rod passes through the two guide plates.

[0008] Preferably, the guide rod and the guide plate are connected in a limiting sliding connection, and an anti-detachment washer is fixedly installed at the tail end of the guide rod, the diameter of which is larger than the diameter of the guide rod.

[0009] Preferably, the outer surface of the fixing plate is provided with a plurality of fixing holes for assembly.

[0010] Compared with the prior art, the beneficial effects of this utility model are: This utility model features an axial cylinder that drives a mounting plate to reciprocate along a straight line via its piston rod, providing a practical effect of uniaxial reciprocating motion. Furthermore, the servo motor in this utility model drives a rotating shaft to reciprocate clockwise or counterclockwise via its output shaft. The servo motor's drive allows the gripper seat to swing left and right within a certain angle range, thus providing an R-axis rotation adjustment effect within a certain angle range. The R-axis rotation can be adjusted according to actual usage conditions. By using an axial cylinder, the robot arm structure of this invention can achieve multi-axial drive effects of linear and rotary axes, meeting the drive requirements of robot arms in most situations, effectively reducing usage limitations, and improving the rotational flexibility of the robot arm. Furthermore, the linear and rotary axes of this invention are driven by separate cylinders and motors, allowing for independent adjustment between the two axes during use. This enables independent drive adjustment between the linear or rotary axes, as well as coordinated adjustment of both axes, effectively improving usage flexibility and meeting the needs of different situations. The drive structure is simple; by effectively simplifying the design of the drive structure, the design and manufacturing difficulty of this invention can be effectively reduced, meeting the needs of simplified industrial use and improving the overall performance. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the top end of the multi-axis manipulator according to an embodiment of the present invention; Figure 2 This is a bottom-view structural diagram of the multi-axis robot arm according to an embodiment of the present invention; Figure 3 This is a three-dimensional structural diagram of the tail section of the multi-axis robotic arm according to an embodiment of the present invention; Figure 4This is a schematic diagram of the R-axis rotation structure of the robotic arm according to an embodiment of the present invention.

[0012] In the diagram: 1. Fixing plate; 2. Cylinder seat; 3. Axial cylinder; 4. Mounting plate; 5. Motor seat; 6. Servo motor; 7. Rotary shaft; 8. Gripper seat; 9. Gripper mounting hole; 10. Guide plate; 11. Guide rod; 12. Fixing hole. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0014] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0015] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0016] Please see Figure 1-4 This utility model provides an embodiment of a multi-axis manipulator structure, including a fixed plate 1. A cylinder seat 2 is fixedly installed on one side of the outer surface of the fixed plate 1. An axial cylinder 3 is fixedly installed on the cylinder seat 2. The axial cylinder 3 is used for axial linear extension and retraction. An mounting plate 4 is fixedly installed on the top of the piston rod of the axial cylinder 3. Thus, the axial cylinder 3 can drive the mounting plate 4 to perform linear reciprocating motion along a straight line through its piston rod, which has the practical effect of single axial reciprocating motion.

[0017] Furthermore, a motor base 5 is fixedly installed on one side of the outer wall of the mounting plate 4 by bolts. A servo motor 6 is fixedly installed inside the motor base 5. A gripper base 8 is provided on the outside of the motor base 5. The gripper base 8 adopts a side "concave" structure design. Both ends of the gripper base 8 are rotatably connected to the motor base 5 through a rotating shaft 7 and bearings. The output shaft of the servo motor 6 is connected to the rotating shaft 7 at the top. This structural design allows the servo motor 6 to drive the rotating shaft 7 to reciprocate clockwise or counterclockwise through its output shaft. The servo motor 6 can drive the gripper seat 8 to swing left and right within a certain angle range, thus achieving the effect of R-axis rotation adjustment within a certain angle range. The R-axis rotation can be adjusted according to the actual usage.

[0018] In order to facilitate the installation of the mechanical gripper for material handling, the outer wall of the gripper base 8 is provided with no less than two sets of gripper mounting holes 9. The gripper mounting holes 9 are used to install mechanical grippers. Externally adapted mechanical grippers can be installed on the gripper base 8 through the gripper mounting holes 9, thereby meeting the material handling needs of the robot.

[0019] In this embodiment, in order to ensure the linearity of the extension and retraction of the axial cylinder 3 and to keep the reciprocating motion of the mounting plate 4 linear, two sets of guide plates 10 are fixedly installed below the axial cylinder 3 and on the outer side wall of the fixed plate 1. A guide rod 11 is fixedly installed on the outer wall of the mounting plate 4 near the guide plate 10. The guide rod 11 is set through the two guide plates 10 and is limited to sliding connection with the guide rod 11 and the guide plate 10. By using the structure of guide rod 11 and guide plate 10 together, a certain displacement guiding effect can be achieved, so that the axial reciprocating movement can be kept linear.

[0020] In this embodiment, in order to prevent the tail end of the guide rod 11 from detaching, an anti-detachment washer is fixedly installed at the tail end of the guide rod 11, and the diameter of the anti-detachment washer is larger than the diameter of the guide rod 11.

[0021] In this embodiment, a plurality of fixing holes 12 for assembly are provided on the outer surface of the fixing plate 1. The multi-axis manipulator assembly of this utility model can be installed on an external structure, such as a fixed structure or other axial sliding plate, through the fixing holes 12, thereby ensuring the normal use of the manipulator of this utility model.

[0022] Working principle: When the multi-axis robot of this utility model is in use, mechanical grippers for gripping materials can be installed on the gripper mounting holes 9 to meet the normal mechanical gripping effect. Meanwhile, the multi-axis manipulator assembly of this utility model can be installed on an external structure, such as a fixed structure or other axial slide plate, through the provided fixing hole 12, thereby ensuring the normal use of the manipulator of this utility model; This utility model uses an axial cylinder 2 to drive the mechanical gripper on the gripper seat 8 to move linearly back and forth, thereby achieving a linear axial displacement driving effect and a practical application effect of uniaxial reciprocating movement. Furthermore, the servo motor 6 of this utility model can drive the rotating shaft 7 to reciprocate clockwise or counterclockwise through its output shaft. Driven by the servo motor 6, the gripper seat 8 can swing left and right within a certain angle range, thereby achieving the effect of R-axis rotation adjustment within a certain angle range. The R-axis rotation can be adjusted according to the actual use. By using the axial cylinder 3, the robot structure of this invention can achieve multi-axial drive effect with linear and rotary axes, which can meet the robot drive needs in most cases, effectively reduce usage limitations, and improve the rotational flexibility of the robot. Furthermore, the linear and rotary axes of this invention are driven by separate cylinders and motors, allowing for independent adjustment between the two axes during use. Independent drive adjustment between the linear or rotary axes is possible, as well as coordinated adjustment of both axes, effectively improving usage flexibility and meeting the needs of different situations. The drive structure is simple; by effectively simplifying the design of the drive structure, the design and manufacturing difficulty of this invention can be effectively reduced, meeting the needs of simplified industrial use and improving the usage effect.

[0023] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A multi-axis robotic arm structure, comprising a fixed plate (1), characterized in that, A cylinder seat (2) is fixedly installed on one side of the outer surface of the fixed plate (1). An axial cylinder (3) is fixedly installed on the cylinder seat (2). An mounting plate (4) is fixedly installed on the top of the piston rod of the axial cylinder (3). A motor seat (5) is fixedly installed on one side of the outer wall of the mounting plate (4) by bolts. A servo motor (6) is fixedly installed inside the motor seat (5). A gripper seat (8) is provided on the outside of the motor seat (5). The gripper seat (8) adopts a side "concave" structure design. Both ends of the gripper seat (8) are rotatably connected to the motor seat (5) through a rotating shaft (7) and bearings. The output shaft of the servo motor (6) is connected to the rotating shaft (7) at the top.

2. The multi-axis manipulator structure according to claim 1, characterized in that: The outer wall of the gripper seat (8) is provided with no less than two sets of gripper mounting holes (9), which are used to install mechanical grippers.

3. The multi-axis manipulator structure according to claim 1, characterized in that: Two sets of guide plates (10) are fixedly installed below the axial cylinder (3) and on the outer surface sidewall of the fixed plate (1).

4. The multi-axis manipulator structure according to claim 1, characterized in that: A guide rod (11) is fixedly installed on the outer wall of the mounting plate (4) near the guide plate (10), and the guide rod (11) passes through the two guide plates (10).

5. The multi-axis manipulator structure according to claim 4, characterized in that: The guide rod (11) and the guide plate (10) are connected in a limiting sliding connection. An anti-detachment pad is fixedly installed at the tail end of the guide rod (11). The diameter of the anti-detachment pad is larger than the diameter of the guide rod (11).

6. The multi-axis manipulator structure according to claim 1, characterized in that: The outer surface of the fixing plate (1) is provided with a plurality of fixing holes (12) for assembly.

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