CN106695827B - Multifunctional four-axis mechanical arm - Google Patents

Multifunctional four-axis mechanical arm Download PDF

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Publication number
CN106695827B
CN106695827B CN201710018437.1A CN201710018437A CN106695827B CN 106695827 B CN106695827 B CN 106695827B CN 201710018437 A CN201710018437 A CN 201710018437A CN 106695827 B CN106695827 B CN 106695827B
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China
Prior art keywords
rectangular frame
rectangle frame
slider
frame
servo
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CN201710018437.1A
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Chinese (zh)
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CN106695827A (en
Inventor
刘晓林
李国洋
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Chengdu Xijie Automation Equipment Co.,Ltd.
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Chengdu Yuantuo Automation Control Technology Co ltd
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Publication of CN106695827A publication Critical patent/CN106695827A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0019End effectors other than grippers
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a multifunctional four-axis manipulator which comprises a rectangular frame A and a rectangular frame B, wherein one short side of the rectangular frame A is connected with one short side of the rectangular frame B through a stand column, the stand column is hinged with one short side of the rectangular frame B, two vertical rods are arranged on the rectangular frame A and are connected with the other short side of the rectangular frame A, the top surfaces of the two vertical rods are connected through a horizontal rod, a servo linear push rod is arranged on the horizontal rod, the top of the servo linear push rod is hinged with the horizontal rod, the bottom of the servo linear push rod is hinged with the other short side of the rectangular frame B, a front-back moving mechanism is arranged on the rectangular frame B, a left-right moving mechanism is arranged on the front-back moving mechanism, a tool clamping mechanism is arranged on the left-right moving mechanism, a working head is arranged on the tool clamping mechanism, and a servo turntable is also arranged on the rectangular frame A. The invention has simple and compact structure and can process complex surfaces such as inclined surfaces, spherical surfaces and the like.

Description

Multifunctional four-axis mechanical arm
Technical Field
The invention relates to the technical field of manipulators, in particular to a multifunctional four-axis manipulator.
Background
The mechanical arm can move the motion trail according to a set program, realize actions such as carrying, grabbing and the like, and help people to realize difficult-to-realize work. The manipulator comprises a motion mechanism and a hand tool, wherein a conventional rectangular coordinate manipulator is generally used, the linear modules are combined into a plurality of different forms, the motion mode is controlled, and the workflow is realized by matching with the corresponding hand tool. The rectangular manipulator is suitable for welding, sorting, assembling, labeling, code spraying, gluing, cutting and the like, but the rectangular manipulator only has two degrees of freedom, can only do linear motion on a horizontal plane, is difficult to process workpieces with complex surface shapes such as inclined planes, spherical surfaces and the like, and is particularly difficult to be qualified for the situation that the positions of large-scale products are random or the specifications of the products are various. The multi-axis manipulator is used for processing the workpieces with complex shapes intelligently, but the manipulator has complex structure, difficult operation, high manufacturing cost and difficult popularization.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the multifunctional four-axis manipulator which has a simple and compact structure and can process complex surfaces such as inclined surfaces, spherical surfaces and the like.
The aim of the invention is realized by the following technical scheme:
the utility model provides a multi-functional four-axis manipulator, includes rectangle frame A and rectangle frame B, a minor face of rectangle frame A passes through the stand and is connected with a minor face of rectangle frame B, a minor face of stand and rectangle frame B articulates, is equipped with two vertical poles on the rectangle frame A, two vertical poles are connected with another minor face of rectangle frame A, and the top of two vertical poles passes through the horizon bar to be connected, set up servo linear push rod on the horizon bar, servo linear push rod's top and horizon bar are articulated, servo linear push rod's bottom and another minor face of rectangle frame B are articulated, be equipped with back-and-forth movement mechanism on the rectangle frame B, be equipped with left and right movement mechanism on the back-and-forth movement mechanism, be equipped with tool clamping mechanism on the tool clamping mechanism, still be equipped with servo turntable on the rectangle frame A.
Preferably, the front-back moving mechanism comprises a guide rail A and a slide block A, the left-right moving mechanism comprises a guide rail B and a slide block B, two ends of the guide rail A are fixed on two long edges of the rectangular frame B, the slide block A is arranged on the guide rail A and is fixed on the guide rail B, the slide block B is arranged on the guide rail B, and the slide block B is fixedly connected with the tool clamping mechanism.
Further, it still includes the working head, tool clamping mechanism includes horizontal plate and the vertical portion of being connected with slider B, offers the through-hole between vertical portion and the horizontal plate, the one end of working head runs through the through-hole, vertical portion and horizontal plate pass through screw clamp working head.
Preferably, the bottom of the upright post is provided with a bearing seat, a rotating shaft is arranged on the bearing seat, and the rotating shaft is arranged at two ends of the short side of the rectangular frame B.
Preferably, two connecting rods are arranged in the rectangular frame A along the short side direction, and the two connecting rods are fixedly connected with the servo turntable.
Preferably, the number of the upright posts is at least two, and the top surfaces of the two upright posts are respectively connected with the bottom surface of the short side of the rectangular frame A through screws.
The beneficial effects of the invention are as follows:
1. the rotating shaft and the inclined shaft are added on the structure of the common X/Y two-axis manipulator to form a more flexible four-axis manipulator, so that the direction of the working platform can adapt to the posture of a workpiece to be processed for adjustment, and the inclined plane is processed;
2. after the relative positions of the working end and the load are ensured, the X/Y two-axis manipulator can automatically operate and work through the connection of the controller, and the operation is simple;
3. for workpieces with different specifications, corresponding processing requirements can be realized by only ensuring the perpendicularity of the working platform and the workpiece axis;
4. the servo linear push rod and the servo rotary table are adopted, so that the control precision is higher.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic view of a tool holding mechanism;
in the figure, a 1-rectangular frame A, a 2-rectangular frame B, a 3-upright post, a 4-slide block A, a 5-slide block B, a 6-guide rail B, a 7-left-right moving mechanism, an 8-back-forth moving mechanism, a 9-guide rail A, a 10-tool clamping mechanism, an 11-working head, a 12-servo turntable, a 13-servo linear push rod, a 14-vertical part, a 15-horizontal plate, a 16-connecting rod, a 17-through hole, an 18-vertical rod and a 19-horizontal rod.
Detailed Description
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings, but the scope of the present invention is not limited to the following description.
As shown in fig. 1-4, a multifunctional four-axis manipulator comprises a rectangular frame A1 and a rectangular frame B2, wherein two connecting rods 16 are arranged in the rectangular frame A1 along the short side direction, a servo turntable 12 is arranged on the rectangular frame A1, and the two connecting rods 16 are fixedly connected with the servo turntable 12. One short side of the rectangular frame A1 is connected with one short side of the rectangular frame B2 through at least two upright posts 3, the top surfaces of the upright posts 3 are respectively connected with the bottom surfaces of the short sides of the rectangular frame A1 through screws, bearing seats are arranged at the bottoms of the upright posts 3, rotating shafts are arranged on the bearing seats, and the rotating shafts are arranged at two ends of the short sides of the rectangular frame B2. Two vertical rods 18 are arranged on the rectangular frame A1, the two vertical rods 18 are connected with the other short side of the rectangular frame A1, the top surfaces of the two vertical rods 18 are connected through a horizontal rod 19, a servo linear push rod 13 is arranged on the horizontal rod 19, the top of the servo linear push rod 13 is hinged with the horizontal rod 19, and the bottom of the servo linear push rod 13 is hinged with the other short side of the rectangular frame B2.
The rectangular frame B2 is provided with a front-back moving mechanism 8, the front-back moving mechanism 8 is provided with a left-right moving mechanism 7, the left-right moving mechanism 7 is provided with a tool clamping mechanism 10, and the tool clamping mechanism 10 is provided with a working head 11. The front-back moving mechanism 8 comprises a guide rail A9 and a slide block A4, the left-right moving mechanism 7 comprises a guide rail B6 and a slide block B5, two ends of the guide rail A9 are fixed on two long edges of the rectangular frame B2, the slide block A4 is arranged on the guide rail A9, the slide block A4 is fixed on the guide rail B6, the slide block B5 is arranged on the guide rail B6, and the slide block B5 is fixedly connected with the tool clamping mechanism 10. The tool clamping mechanism 10 comprises a horizontal plate 15 and a vertical part 14 connected with the sliding block B5, a through hole 17 is formed between the vertical part 14 and the horizontal plate 15, one end of the working head 11 penetrates through the through hole 17, and the vertical part 14 and the horizontal plate 15 clamp the working head 11 through screws.
In operation, the workpiece can be accessed by installing the invention on a moving mechanism such as a moving trolley, aiming at the situation that the positions of large workpieces are random or the specifications are various.
Since the bottom end of the servo linear push rod 13 is hinged with one side of the rectangular frame B2, the push rod is stretched, the side of the rectangular frame B2 hinged with the push rod is moved downwards, the push rod is contracted, and the side of the rectangular frame B2 hinged with the push rod is moved upwards, the rectangular frame B2 can swing back and forth around the side of the rectangular frame A1 hinged with the push rod by controlling the length of the push rod of the servo linear push rod 13. When the servo motor is arranged on the servo turntable 12, the servo turntable 12 can drive the rectangular frame A1, the rectangular frame B2 and all mechanisms arranged on the rectangular frame B2 to do rotary motion.
When the inclined plane is machined, the angle of the rectangular frame B2 can be adjusted according to the inclination angle of the surface to be machined, so that the rectangular frame B2 is parallel to the surface to be machined. And then according to the position of the workpiece, the angle of the working head 11 is adjusted to enable the working head to be opposite to the surface to be processed of the workpiece, and the working head 11 is clamped by the tool clamping mechanism 10. The slider A4 moves back and forth on the guide rail A9 to drive the guide rail B6 to move back and forth, the slider B5 moves left and right on the guide rail B6, so that the tool clamping mechanism 10 arranged on the slider B5 also moves left and right along with the slider B6, and meanwhile, the slider B5 also moves back and forth along with the guide rail B6, so that the working head 11 on the tool clamping mechanism 10 can complete movement in four directions in the back and forth, left and right directions in the working plane. Namely, the left-right movement mechanism 7 and the forward-backward movement mechanism 8 are driven to move the working head 11 accordingly, thereby completing the processing in the plane.
When the spherical surface is machined, the working head 11 can complete the displacement in the working plane by controlling the left-right moving mechanism 7 and the front-back moving mechanism 8; while the working head 11 is capable of rotational movement about the axis of rotation of the servo turntable 12; and swings back and forth around the short side hinged with the upright 3 on the rectangular frame B2, and the swing amplitude is controlled by the length of the servo linear push rod 13. By controlling the sliding block B5 on the left-right moving mechanism 7 to move and the sliding block A4 on the front-back moving mechanism 8 to move, the servo motor is started and stopped and rotated, and the length of the push rod of the servo linear push rod 13 can enable the working head 11 to work in four degrees of freedom, so that the processing of the spherical surface can be completed.
In operation, any one of a flame cutting gun, a spray gun, a polishing head and the like can be selected as required to be used as the working head 11 to be installed in the through hole 17 on the tool clamping mechanism 10, and a programmable computer controller PLC or a motion controller is adopted to control the driving motors and the servo motors of the left-right moving mechanism 7, the front-back moving mechanism 8 and the servo linear push rod 13. The travel of each mechanism can be controlled by the controller, the movement of the working head 11 on the corresponding four degrees of freedom is completed, and the automatic operation of the machine is realized. In addition, the controller can be connected with the Ethernet, remote control and fault early warning of the manipulator are realized through Ethernet communication, and the reliability and safety of the manipulator are improved.
The foregoing is merely a preferred embodiment of the invention, and it is to be understood that the invention is not limited to the form disclosed herein but is not to be construed as excluding other embodiments, but is capable of numerous other combinations, modifications and environments and is capable of modifications within the scope of the inventive concept, either as taught or as a matter of routine skill or knowledge in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.

Claims (3)

1. A multifunctional four-axis manipulator is characterized in that: including rectangle frame A (1) and rectangle frame B (2), a minor face of rectangle frame A (1) is connected with a minor face of rectangle frame B (2) through stand (3), stand (3) bottom sets up the bearing frame, install the pivot on the bearing frame, the both ends of the minor face that rectangle frame B (2) and rectangle frame A (1) are connected are located to the pivot, be equipped with two vertical pole (18) on rectangle frame A (1), another minor face of two vertical pole (18) and rectangle frame A (1) is connected, the top surface of two vertical pole (18) is connected through horizon bar (19), set up servo linear push rod (13) on horizon bar (19), the top and horizon bar (19) of servo linear push rod (13) are articulated, the bottom of servo linear push rod (13) is articulated with another minor face of rectangle frame B (2), be equipped with fore-and-aft movement mechanism (8) on rectangle frame B (2), be equipped with on fore-and-aft movement mechanism (8) left and right movement mechanism (7), be equipped with on left-and-right movement mechanism (7) and be equipped with tool (7) and slider (6) and slider (7) are including slider (6), the utility model discloses a PLC, including rectangle frame B (2), guide rail A (9) are fixed in on two long limits of rectangle frame B (2), set up slider A (4) on guide rail A (9), slider A (4) are fixed in on guide rail B (6), set up slider B (5) on guide rail B (6), slider B (5) fixed connection instrument fixture (10), install work head (11) on instrument fixture (10), instrument fixture (10) include horizontal plate (15) and vertical portion (14) be connected with slider B (5), offer through-hole (17) between vertical portion (14) and horizontal plate (15), one end of work head (11) runs through-hole (17), vertical portion (14) and horizontal plate (15) clamp work head (11) through the screw, still be equipped with servo revolving stage (12) on rectangle frame A (1), control moving mechanism (7), driving motor and servo linear push rod (13) servo motor and programmable computer controller or motion controller, programmable computer controller or PLC.
2. The multifunctional four-axis manipulator according to claim 1, wherein: the two upright posts (3) are at least two, and the top surfaces of the two upright posts (3) are respectively connected with the bottom surfaces of the short sides of the rectangular frame A (1) and the rectangular frame B (2) through screws.
3. The multifunctional four-axis manipulator according to claim 1, wherein: two connecting rods (16) are arranged in the rectangular frame A (1) along the short side direction of the rectangular frame A (1), two ends of each connecting rod (16) are connected with the long side of the rectangular frame A (1), and the two connecting rods (16) are fixedly connected with the servo turntable (12).
CN201710018437.1A 2017-01-11 2017-01-11 Multifunctional four-axis mechanical arm Active CN106695827B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN106695827B true CN106695827B (en) 2023-08-01

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Families Citing this family (1)

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CN107825448B (en) * 2017-11-27 2023-10-24 湖北天华智能装备股份有限公司 Clamping lifting appliance

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Effective date of registration: 20240424

Address after: No. 101, Building 8, No. 38 Jinke South Road, Jinniu High tech Industrial Park, Chengdu, Sichuan Province, 610000

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Country or region after: China

Address before: Room 1, Floor 14, Unit 2, Building 1, No. 188, Yingmenkou Road, Jinniu District, Chengdu, Sichuan 610031

Patentee before: Chengdu Yuantuo Automation Control Technology Co.,Ltd.

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