A three-dimensional robotic arm

Abstract

This utility model discloses a three-dimensional robotic arm, specifically relating to the field of three-dimensional robotic arm technology. It includes: a fixed support, with two X-axis guide rails fixed side-by-side on the lower front and rear sides of the fixed support; the fixed support comprises a rectangular three-dimensional frame, with inclined reinforcing plates fixed to the top of the front and rear ends of the left and right sides of the rectangular three-dimensional frame, the lower ends of the inclined reinforcing plates connected to the ends of the X-axis guide rails; two drive moving components, arranged side-by-side on the two X-axis guide rails; and two Y-axis guide rails, each slidably nested within a corresponding sliding cavity. The rectangular three-dimensional frame and the inclined reinforcing plates of this utility model cooperate to form a stable triangular structure at both ends of the X-axis guide rails, and a reinforcing tube connects the two X-axis guide rails, resulting in high overall structural strength, minimizing frame deformation and rapidly attenuating vibration during high-speed start-up and shutdown.

Description

Technical Field

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

[0002] In automated stamping production lines, three-dimensional robotic arms are responsible for sequentially feeding sheet metal from the destacking station into multi-station dies, and performing high-precision, high-cycle handling between each station. Their performance directly determines the overall line efficiency, finished product yield, and die life.

[0003] Existing technologies generally employ a cantilever structure with a single linear module and cylinder drive. The X-axis is supported by a single aluminum profile module, the Y-axis is extended and retracted by a cylinder, and the Z-axis is raised and lowered using a conventional servo motor with a belt or chain. This solution has low initial investment and a simple structure, but with frequent changes in end products, increased stamping cycle time, and larger mold sizes, the single X-axis module cantilever experiences stress, resulting in significant frame distortion during high-speed start-up and shutdown. This leads to decreased repeatability and requires frequent stops for correction. The Y-axis, driven by a cylinder, can only switch between two endpoints and cannot stop in the middle, making it impossible to accurately place and control the speed of molds of different sizes. This fails to meet manufacturers' production requirements for various molds, and the end-point buffer is not adjustable. Utility Model Content

[0004] The purpose of this invention is to provide a three-dimensional robotic arm to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a three-dimensional robotic arm, comprising: A fixed bracket has two X-axis guide rails fixed side by side on its lower front and rear sides. The upper and lower parts of the two X-axis guide rails that are far apart from each other are fixed with first rails. The front side wall of the X-axis guide rail located in front is fixed with a first rack. The fixed bracket includes a rectangular three-dimensional frame. The top of the front and rear parts of the left and right sides of the rectangular three-dimensional frame are fixed with inclined reinforcing plates. The lower end of the inclined reinforcing plate is connected to the end of the X-axis guide rail. Two drive moving components are arranged side by side on two X-axis guide rails. Each drive moving component includes a connecting frame with a sliding cavity extending through its front and rear sides. A moving seat is fixed to the upper side of both the front and rear ends of the connecting frame. The moving seat is slidably mounted on the corresponding X-axis guide rail. A first reduction motor is mounted on the moving seat. The output end of the first reduction motor passes through the moving seat and is connected to a first transmission gear. The first transmission gear meshes with a first rack. A second reduction motor is mounted on the connecting frame. The output end of the second reduction motor passes through the connecting frame and is connected to a second transmission gear. Two Y-axis guide rails are slidably nested in corresponding sliding cavities. A second rack is fixed on each Y-axis guide rail. A second transmission gear meshes with the second rack. A connecting plate is fixed to the front end of both Y-axis guide rails. Multiple end effectors are installed at the bottom of the connecting plate.

[0006] Furthermore, the first rack is located between the upper and lower first rails; The movable seat is fixed with a first slide block at the position corresponding to the upper and lower two first rails. The first slide block is slidably installed on the first rail. The arrangement of the upper and lower first slide blocks increases the anti-warping ability by 100% compared to a single slide block, and the load-bearing effect is better.

[0007] Furthermore, the upper and lower parts of the left and right sides of the Y-axis guide rail are fixed with second rails, and the inner wall of the sliding cavity is fixed with a second slide block corresponding to the position of the second rail, and the second slide block is slidably mounted on the second rail.

[0008] Furthermore, a limit stop is fixed on the Y-axis guide rail at the rear end of the second rail, and a buffer post is fixed on one end of the limit stop near the second rail to buffer the impact noise.

[0009] Furthermore, a reinforcing tube is fixed between the two X-axis guide rails.

[0010] Furthermore, the end effector, the first geared motor, and the second geared motor are all electrically connected to a PLC controller and controlled by the PLC controller.

[0011] Furthermore, baffles are fixed at both ends of the X-axis guide rail, and buffer blocks are fixed on the inner wall of the baffles to provide a buffering effect, preventing the first slide from directly hitting the baffles and reducing impact noise.

[0012] Furthermore, lifting cylinders are installed at the top four corners of the fixed bracket. The lifting cylinders are electrically connected to the PLC controller to facilitate the overall lifting. The four lifting cylinders work synchronously, which improves the stability of the overall lifting. Even if the punch press itself has a horizontal error, it can be restored to horizontal by adjusting the air pressure of the lifting cylinders individually.

[0013] The technical effects and advantages provided by this utility model in the above technical solution are as follows: 1. The rectangular three-dimensional frame and the inclined reinforcing plate work together to form a stable triangular structure at both ends of the X-axis guide rail, and a reinforcing tube connects the two X-axis guide rails. The overall structure has high strength, which makes the frame deformation minimal and the vibration rapidly attenuated during high-speed start-up and shutdown. 2. A buffer block is fixed on the inner wall of the baffle, and a buffer post is fixed at the end of the limit block near the second rail. In case of accidental loss of control, the impact is absorbed step by step with soft first and then hard, protecting the gears, racks and geared motor from impact damage and reducing sudden failures. 3. Both the X and Y axes adopt a clamping method with upper and lower double rails and double slides. Regardless of acceleration, deceleration or off-center gripping, the guide rail system can automatically counteract the overturning moment, avoid single-point wear and warping, and reduce the instantaneous impact on the output torque of the geared motor. 4. The X-axis and Y-axis movements are achieved through geared motors, gears, and racks, replacing traditional cylinders or belts. This enables arbitrary point positioning, micro-motion compensation, and flexible speed curves, completely eliminating the end-point rebound and positioning blind spots of cylinders. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the present invention after the fixing bracket has been removed; Figure 3 This utility model Figure 2 Enlarged view of part A.

[0016] Explanation of reference numerals in the attached figures: 10. Fixed bracket; 11. Rectangular three-dimensional frame; 12. Inclined reinforcing plate; 20. X-axis guide rail; 21. First rail; 22. First rack; 23. Reinforcing tube; 24. Baffle; 30. Drive moving component; 31. Connecting frame; 32. Slide cavity; 33. Moving seat; 34. First geared motor; 35. Second geared motor; 36. First slide block; 37. Second slide block; 40. Y-axis guide rail; 41. Second rack; 42. Second rail; 50. Connecting plate. Detailed Implementation

[0017] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0018] This utility model provides, for example Figures 1 to 3 The three-dimensional robotic arm shown includes: The fixed bracket 10 has two X-axis guide rails 20 fixed side by side on its lower front and rear sides. The two X-axis guide rails 20 are fixed with first rails 21 on the upper and lower sides of the side that is far apart from each other. The front side wall of the X-axis guide rail 20 is fixed with a first rack 22. The fixed bracket 10 includes a rectangular three-dimensional frame 11. The top of the left and right sides and the front and rear sides of the rectangular three-dimensional frame 11 are fixed with inclined reinforcing plates 12. The lower end of the inclined reinforcing plates 12 is connected to the end of the X-axis guide rail 20. Two drive moving components 30 are arranged side by side on two X-axis guide rails 20. Each drive moving component 30 includes a connecting frame 31. The connecting frame 31 has a sliding cavity 32 that runs through its front and rear sides. The upper sides of both the front and rear ends of the connecting frame 31 are fixed with moving seats 33. The moving seats 33 are slidably mounted on the corresponding X-axis guide rails 20. A first reduction motor 34 is mounted on the moving seat 33. The output end of the first reduction motor 34 passes through the moving seat 33 and is connected to a first transmission gear. The first transmission gear meshes with a first rack 22. A second reduction motor 35 is mounted on the connecting frame 31. The output end of the second reduction motor 35 passes through the connecting frame 31 and is connected to a second transmission gear. Two Y-axis guide rails 40 are slidably nested in corresponding sliding cavities 32. A second rack 41 is fixed on the Y-axis guide rail 40. A second transmission gear is meshed with the second rack 41. A connecting plate 50 is fixed to the front end of the two Y-axis guide rails 40. Multiple end effectors are installed at the bottom of the connecting plate 50.

[0019] The first rack 22 is located between the upper and lower first rails 21; The movable seat 33 is fixed with a first slide block 36 corresponding to the positions of the upper and lower first rails 21. The first slide block 36 is slidably installed on the first rail 21. The setting of the upper and lower first slide blocks 36 improves the anti-warping ability by 1 times compared with the single slide block and has a better load-bearing effect.

[0020] The upper and lower parts of the left and right sides of the Y-axis guide rail 40 are both fixed with second rails 42. The inner wall of the sliding cavity 32 is fixed with a second slide block 37 corresponding to the position of the second rail 42. The second slide block 37 is slidably installed on the second rail 42.

[0021] A limit stop is fixed on the Y-axis guide rail 40 at the rear end of the second rail 42. A buffer post is fixed on one end of the limit stop near the second rail 42 to buffer the impact and reduce impact noise.

[0022] A reinforcing tube 23 is fixed between the two X-axis guide rails 20.

[0023] The end effector, the first geared motor 34, and the second geared motor 35 are all electrically connected to a PLC controller and are controlled by the PLC controller.

[0024] Both ends of the X-axis guide rail 20 are fixed with baffles 24. The inner wall of the baffles 24 is fixed with buffer blocks to buffer the impact and prevent the first slide block 36 from directly hitting the baffles 24, thus reducing impact noise.

[0025] Lifting cylinders are installed at the top four corners of the fixed bracket 10. The lifting cylinders are electrically connected to the PLC controller to facilitate the overall lifting. The four lifting cylinders work synchronously, which improves the stability of the overall lifting. Even if the punch press itself has a horizontal error, it can be restored to horizontal by adjusting the air pressure of the lifting cylinders individually.

[0026] In this utility model, the fixed bracket 10 is composed of a rectangular three-dimensional frame 11 and four inclined reinforcing plates 12. The rectangular three-dimensional frame 11 and the inclined reinforcing plates 12 cooperate to form a stable triangular structure at both ends of the two X-axis guide rails 20. A reinforcing tube 23 is connected between the two X-axis guide rails 20. The overall structure has high strength, so the frame deformation is small during high-speed start-up and stop, and the vibration is rapidly attenuated. Both the X and Y axes adopt the clamping method of upper and lower double rails and double slides. Regardless of acceleration, deceleration or off-center gripping, the guide rail system can automatically offset the overturning moment, avoid single-point wear and warping, and reduce the instantaneous impact on the output torque of the geared motor. The X-axis movement and Y-axis movement are realized through geared motor, gear and rack transmission, replacing the traditional cylinder or belt. It can realize arbitrary point positioning, micro-motion compensation and flexible speed curve, and completely eliminate the end point rebound and positioning blind zone of the cylinder. A limit stop is fixed on the Y-axis guide rail 40 at the rear end of the second rail 42. A buffer post is fixed to one end of the limit stop near the second rail 42. Baffles 24 are fixed to both ends of the X-axis guide rail 20. Buffer blocks are fixed to the inner walls of the baffles 24. The setting of the limit stop, buffer post, baffles 24 and buffer blocks allows the impact to be absorbed step by step, from soft to hard, in the event of accidental loss of control, protecting the gears, racks and geared motor from impact damage and reducing sudden failures.

[0027] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A three-dimensional robotic arm, characterized in that, include: A fixed bracket (10) has two X-axis guide rails (20) fixed side by side on the lower front and rear sides. The two X-axis guide rails (20) are fixed with first rails (21) on the upper and lower sides of the side away from each other. The front side wall of the X-axis guide rail (20) is fixed with a first rack (22). The fixed bracket (10) includes a rectangular three-dimensional frame (11). The top of the left and right sides of the rectangular three-dimensional frame (11) is fixed with inclined reinforcing plates (12). The lower end of the inclined reinforcing plates (12) is connected to the end of the X-axis guide rail (20). Two drive moving components (30) are arranged side by side on two X-axis guide rails (20). Each drive moving component (30) includes a connecting frame (31). The connecting frame (31) has a sliding cavity (32) that runs through its front and rear sides. The upper sides of both the front and rear ends of the connecting frame (31) are fixed with moving seats (33). The moving seats (33) are slidably mounted on the corresponding X-axis guide rails (20). A first reduction motor (34) is mounted on the moving seat (33). The output end of the first reduction motor (34) passes through the moving seat (33) and is connected to a first transmission gear. The first transmission gear meshes with a first rack (22). A second reduction motor (35) is mounted on the connecting frame (31). The output end of the second reduction motor (35) passes through the connecting frame (31) and is connected to a second transmission gear. Two Y-axis guide rails (40) are slidably nested in the corresponding sliding cavities (32). A second rack (41) is fixed on the Y-axis guide rail (40). The second transmission gear meshes with the second rack (41). A connecting plate (50) is fixed to the front end of the two Y-axis guide rails (40). Multiple end effectors are installed at the bottom of the connecting plate (50).

2. The three-dimensional robotic arm according to claim 1, characterized in that: The first rack (22) is located between the upper and lower first rails (21); The movable seat (33) is fixed with a first slide (36) corresponding to the positions of the upper and lower first rails (21), and the first slide (36) is slidably installed on the first rail (21).

3. A three-dimensional robotic arm according to claim 1, characterized in that: The upper and lower parts of the left and right sides of the Y-axis guide rail (40) are fixed with second rails (42), and the inner wall of the sliding cavity (32) is fixed with a second slide block (37) corresponding to the position of the second rail (42). The second slide block (37) is slidably installed on the second rail (42).

4. A three-dimensional robotic arm according to claim 3, characterized in that: A limit stop is fixed at the rear end of the second rail (42) on the Y-axis guide rail (40), and a buffer post is fixed at one end of the limit stop near the second rail (42).

5. A three-dimensional robotic arm according to claim 1, characterized in that: A reinforcing tube (23) is fixed between the two X-axis guide rails (20).

6. A three-dimensional robotic arm according to claim 1, characterized in that: The end effector, the first geared motor (34), and the second geared motor (35) are all electrically connected to a PLC controller.

7. A three-dimensional robotic arm according to claim 1, characterized in that: Both ends of the X-axis guide rail (20) are fixed with baffles (24), and the inner wall of the baffles (24) is fixed with buffer blocks.

8. A three-dimensional robotic arm according to claim 6, characterized in that: Each of the four top corners of the fixed bracket (10) is equipped with a lifting cylinder, which is electrically connected to the PLC controller.

Images