CN107901034A - A kind of four axis robots - Google Patents

A kind of four axis robots Download PDF

Info

Publication number
CN107901034A
CN107901034A CN201711098985.6A CN201711098985A CN107901034A CN 107901034 A CN107901034 A CN 107901034A CN 201711098985 A CN201711098985 A CN 201711098985A CN 107901034 A CN107901034 A CN 107901034A
Authority
CN
China
Prior art keywords
motor
slide unit
straight line
line slide
fixed disk
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711098985.6A
Other languages
Chinese (zh)
Inventor
沈燕洁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuxi Baihe Industrial Robot Co Ltd
Original Assignee
Wuxi Baihe Industrial Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuxi Baihe Industrial Robot Co Ltd filed Critical Wuxi Baihe Industrial Robot Co Ltd
Priority to CN201711098985.6A priority Critical patent/CN107901034A/en
Publication of CN107901034A publication Critical patent/CN107901034A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/025Arms extensible telescopic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/04Arms extensible rotatable

Landscapes

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

Abstract

The invention discloses a kind of four axis robots, including cabinet, straight line slide unit and fixed disk, cabinet side is equipped with cover board, cover board is equipped with heat emission hole, rotation axis top connects straight line slide unit, and straight line slide unit is equipped with sliding slot, and travelling arm left end is clamped with sliding slot, second motor connects fixed disk, and fixed disk side surface is respectively equipped with sucker, fixed claw, magnechuck and hook.The present invention designs advantages of simple in structure, use easy to operate, practicality is very high, the present invention relates to a kind of four axis robots, during work, heat emission hole lifting device service life, under the action of the 3rd motor and retarder, rotation axis is rotated and moved up and down, under the action of rotation axis, straight line slide unit horizontal 360-degree rotates, under the action of the first motor, travelling arm is moved horizontally, fixed disk is equipped with sucker, fixed claw, magnechuck and four kinds of fetching tools of hook are available, effectively lifting present apparatus adaptability, flexibility ratio and work efficiency.

Description

A kind of four axis robots
Technical field
The present invention relates to a kind of manipulator, is specifically a kind of four axis robots.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object Or the automatic pilot of operation instrument.The executing agency of manipulator is divided into hand, arm, trunk, and hand is installed on arm Front end, the effect of arm is that guiding finger catches workpiece exactly, and is transported on desired position, in order to enable manipulator Correctly work, 3 frees degree of arm will be precisely located, and trunk trunk is installation arm, power source and various execution The stent of mechanism.Feature is that various expected operations can be completed by programming, although manipulator is clever like that not as good as human hand It is living, but it have can constantly repeated work and work, do not know fatigue, be fearless of danger, the strength of snatch weight is bigger than people hand-power Feature, while it is also the embodiment that industrial manufacturing automation, precise treatment, intelligent level lifting and product quality improve, therefore, Manipulator is paid attention to be subject to many departments, and is applied more and more widely.Existing manipulator exists to turn to mostly moves Dynamic dumb, function is more single, and the hand that particularly works usually only is arranged to single grasp mode, and applicability is low.
Therefore, those skilled in the art provide a kind of four axis robots, to solve proposed in the above background technology ask Topic.
The content of the invention
It is an object of the invention to provide a kind of four axis robots, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical solution:
A kind of four axis robots, including cabinet, straight line slide unit and fixed disk, the cabinet bottom is equipped with Convenient table, described Cabinet side is equipped with cover board, and the cover board is equipped with heat emission hole, and the cabinet inner bottom is equipped with the 3rd motor, the 3rd electricity Machine upper end is connected with retarder by transmission shaft, and the retarder upper end connects rotation axis, and the rotation axis passes through vertical guide rail Cabinet is connected, the rotation axis top connects straight line slide unit, and the straight line slide unit left end is equipped with the first motor, the straight line slide unit Sliding slot is equipped with, the travelling arm left end is clamped with sliding slot, and the travelling arm upper end is equipped with status indicator lamp, and the travelling arm is right End is equipped with the second motor, second motor by being driven axis connection fixed disk, the fixed disk side surface be respectively equipped with sucker, Fixed claw, magnechuck and hook.
As the further scheme of the present invention:First motor, the second motor and the 3rd motor select servomotor.
As further scheme of the invention:The retarder uses harmonic speed reducer.
As further scheme of the invention:The sucker, fixed claw, magnechuck and hook are in fixed disk side surface It is isodistantly spaced circumferential array.
As further scheme of the invention:The heat emission hole is set to linear array on the cover board.
Compared with prior art, the beneficial effects of the invention are as follows:
The present invention designs advantages of simple in structure, uses easy to operate, and practicality is very high, and the present invention relates to one kind Four axis robots, during work, the running of three servomotors is controlled by control device, is passed through Convenient table and is fixed the present apparatus, lid Plate detachably facilitates equipment maintenance, and heat emission hole elevating mechanism service life is real under the action of the 3rd motor and retarder The rotation of existing rotation axis and the movement of above-below direction, by vertical guide rail improving stability, under the action of rotation axis, are realized straight The 360 degree of rotations of line slide unit in the horizontal plane, under the action of the first motor, travelling arm is carried out in horizontal direction along sliding slot It is mobile so that the present apparatus is simple in structure, and movement is flexible, and the degree of automation is high, and the second motor drives fixation to spiral by transmission shaft Modulation section, fixed disk are equipped with sucker, and fixed claw, four kinds of fetching tools of magnechuck and hook, can carry out according to different material Selection, effectively lifts present apparatus adaptability and work efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram of four axis robots.
Fig. 2 is the structure diagram of handgrip in four axis robots.
Fig. 3 is the operating diagram of rotation axis in four axis robots.
In figure:1- cabinets, 2- rotation axis, the first motors of 3-, 4- straight lines slide unit, 5- status indicator lamps, 6- travelling arms, 7- Two motors, 8- fixed disks, 9- suckers, 10- hooks, 11- magnechucks, 12- fixed claws, 13- fix move back, the 3rd motors of 14-, 15- retarders, 16- vertical guide rails, 17- cover boards, 18- heat emission holes.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work Embodiment, belongs to the scope of protection of the invention.
Please refer to Fig.1~3, in the embodiment of the present invention, a kind of four axis robots, including cabinet 1, straight line slide unit 4 and fixed Disk 8,1 bottom of cabinet are equipped with Convenient table 13, and 1 side of cabinet is equipped with cover board 17, and the cover board 17, which is equipped with, to be dissipated Hot hole 18,1 inner bottom of cabinet are equipped with the 3rd motor 14, and 14 upper end of the 3rd motor is connected with deceleration by transmission shaft Device 15,15 upper end of retarder connect rotation axis 2, and the rotation axis 2 connects cabinet 1, the rotation by vertical guide rail 16 2 top of axis connection straight line slide unit 4,4 left end of straight line slide unit is equipped with the first motor 3, and the straight line slide unit 4 is equipped with sliding slot, 6 left end of travelling arm is clamped with sliding slot, and 6 upper end of travelling arm is equipped with status indicator lamp 5, and 6 right end of travelling arm is equipped with Second motor 7, second motor 7 by being driven axis connection fixed disk 8,8 side surface of fixed disk be respectively equipped with sucker 9, Fixed claw 12, magnechuck 11 and hook 10.
First motor 3, the second motor 7 and the 3rd motor 14 select servomotor.
The retarder 15 uses harmonic speed reducer.
The sucker 9, fixed claw 12, magnechuck 11 and hook 10 are isodistantly spaced circumferential array in 8 side surface of fixed disk.
The heat emission hole 18 is set to linear array on cover board 17.
The present invention operation principle be:
The present invention relates to a kind of four axis robots, the present apparatus is used to carry out picking and placeing operation at a high speed, during work, passes through control device control The running of three servomotors to be made, the present apparatus is fixed by Convenient table 13, status indicator lamp 5 can be appreciated that present apparatus operating status, Cover board 17 detachably facilitates equipment maintenance, 18 elevating mechanism service life of heat emission hole, in the 3rd motor 14 and retarder 15 Under the action of, the rotation of rotation axis 2 and the movement of above-below direction are realized, by 16 improving stability of vertical guide rail, in rotation axis 2 Under the action of, realize in the horizontal plane the 360 degree rotations of straight line slide unit 4, under the action of the first motor 3, travelling arm 6 is along cunning Groove carries out the movement in horizontal direction so that the present apparatus is simple in structure, and movement is flexible, and the degree of automation is high, and the second motor 7 passes through Transmission shaft drives the rotation of fixed disk 8 to adjust, and fixed disk 8 is equipped with 10 4 kinds of sucker 9, fixed claw 12, magnechuck 11 and hook Fetching tool, can make choice according to different material, effectively lift present apparatus adaptability and work efficiency.
The present invention designs advantages of simple in structure, uses easy to operate, and practicality is very high, the present invention relates to A kind of four axis robots, the present apparatus are used to carry out picking and placeing operation at a high speed, during work, pass through control device and control three servomotors Running, the present apparatus is fixed by Convenient table, cover board detachably facilitates equipment maintenance, and heat emission hole elevating mechanism uses the longevity Life, under the action of the 3rd motor and retarder, realizes the rotation of rotation axis and the movement of above-below direction, is carried by vertical guide rail Stability is risen, under the action of rotation axis, the 360 degree of rotations of straight line slide unit in the horizontal plane are realized, in the effect of the first motor Under, travelling arm carries out moving in horizontal direction along sliding slot so that the present apparatus is simple in structure, and movement is flexible, the degree of automation Height, the second motor drive fixed disc spins to adjust by transmission shaft, and fixed disk is equipped with sucker, fixed claw, magnechuck and extension Four kinds of fetching tools of hook, can make choice according to different material, effectively lift present apparatus adaptability and work efficiency.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art It is appreciated that other embodiment.

Claims (5)

1. a kind of four axis robots, including cabinet (1), straight line slide unit (4) and fixed disk (8), it is characterised in that the cabinet (1) bottom is equipped with Convenient table (13), and cabinet (1) side is equipped with cover board (17), and the cover board (17) is equipped with heat dissipation Hole (18), cabinet (1) inner bottom are equipped with the 3rd motor (14), and the 3rd motor (14) upper end is by being driven axis connection There are retarder (15), retarder (15) the upper end connection rotation axis (2), the rotation axis (2) is connected by vertical guide rail (16) Receive at the counter body (1), rotation axis (2) the top connection straight line slide unit (4), straight line slide unit (4) left end is equipped with the first motor (3), the straight line slide unit (4) is equipped with sliding slot, and travelling arm (6) left end is clamped with sliding slot, and travelling arm (6) upper end is set Stateful indicator light (5), travelling arm (6) right end are equipped with the second motor (7), and second motor (7) is connected by transmission shaft Fixed disk (8) is connect, fixed disk (8) side surface is respectively equipped with sucker (9), fixed claw (12), magnechuck (11) and hook (10)。
2. four axis robot according to claim 1, it is characterised in that first motor (3), the second motor (7) and 3rd motor (14) selects servomotor.
3. four axis robot according to claim 1, it is characterised in that the retarder (15) uses harmonic speed reducer.
4. four axis robot according to claim 1, it is characterised in that the sucker (9), fixed claw (12), electromagnetism are inhaled Disk (11) and hook (10) are isodistantly spaced circumferential array in fixed disk (8) side surface.
5. four axis robot according to claim 1, it is characterised in that the heat emission hole (18) is set on cover board (17) Linear array.
CN201711098985.6A 2017-11-09 2017-11-09 A kind of four axis robots Pending CN107901034A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711098985.6A CN107901034A (en) 2017-11-09 2017-11-09 A kind of four axis robots

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711098985.6A CN107901034A (en) 2017-11-09 2017-11-09 A kind of four axis robots

Publications (1)

Publication Number Publication Date
CN107901034A true CN107901034A (en) 2018-04-13

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Application Number Title Priority Date Filing Date
CN201711098985.6A Pending CN107901034A (en) 2017-11-09 2017-11-09 A kind of four axis robots

Country Status (1)

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CN (1) CN107901034A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108408662A (en) * 2018-05-12 2018-08-17 华北理工大学 A kind of building outer layer translating hoist
CN108483363A (en) * 2018-05-12 2018-09-04 华北理工大学 A kind of building outer layer translating hoist rack
CN108506618A (en) * 2018-04-17 2018-09-07 广东科捷龙机器人有限公司 Gas circuit conversion equipment and paper matrix multi-joint device for paper matrix multi-joint device
CN109228254A (en) * 2018-09-18 2019-01-18 云南唯佳塑业有限公司 A kind of full automatic plastic bottle processing method
CN110918902A (en) * 2018-09-20 2020-03-27 黄山市黄山区金球耐磨材料有限公司 Novel wear-resisting steel ball easy demoulding automatic molding machine
CN110978019A (en) * 2019-12-11 2020-04-10 安徽瞬达信息科技有限公司 Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot
CN112008704A (en) * 2019-05-31 2020-12-01 昆山怡德鑫精密机械有限公司 Product transmission mechanical arm

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2566310A1 (en) * 1984-06-25 1985-12-27 Etude Rech Produits Sepro Gripping accessories for manipulators and robots
CN204725490U (en) * 2015-05-14 2015-10-28 无锡艾度科技有限公司 A kind of punching press transfer manipulator
CN205096420U (en) * 2015-07-20 2016-03-23 中山亚力菲自动化设备有限公司 Punching press four -axis manipulator
CN205238045U (en) * 2015-12-31 2016-05-18 浙江天运机电科技有限公司 Snatch machine
CN106313089A (en) * 2016-10-21 2017-01-11 苏州哈工海渡工业机器人有限公司 Composite fixture for industrial robot
CN206335061U (en) * 2016-12-19 2017-07-18 福建通用机器人科技有限公司 A kind of four axle stamping mechanical arms
CN107253189A (en) * 2017-07-25 2017-10-17 芜湖超源力工业设计有限公司 A kind of transfer robot with sucked type handgrip
CN207930669U (en) * 2017-11-09 2018-10-02 无锡百禾工业机器人有限公司 A kind of four axis robots

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2566310A1 (en) * 1984-06-25 1985-12-27 Etude Rech Produits Sepro Gripping accessories for manipulators and robots
CN204725490U (en) * 2015-05-14 2015-10-28 无锡艾度科技有限公司 A kind of punching press transfer manipulator
CN205096420U (en) * 2015-07-20 2016-03-23 中山亚力菲自动化设备有限公司 Punching press four -axis manipulator
CN205238045U (en) * 2015-12-31 2016-05-18 浙江天运机电科技有限公司 Snatch machine
CN106313089A (en) * 2016-10-21 2017-01-11 苏州哈工海渡工业机器人有限公司 Composite fixture for industrial robot
CN206335061U (en) * 2016-12-19 2017-07-18 福建通用机器人科技有限公司 A kind of four axle stamping mechanical arms
CN107253189A (en) * 2017-07-25 2017-10-17 芜湖超源力工业设计有限公司 A kind of transfer robot with sucked type handgrip
CN207930669U (en) * 2017-11-09 2018-10-02 无锡百禾工业机器人有限公司 A kind of four axis robots

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108506618A (en) * 2018-04-17 2018-09-07 广东科捷龙机器人有限公司 Gas circuit conversion equipment and paper matrix multi-joint device for paper matrix multi-joint device
CN108408662A (en) * 2018-05-12 2018-08-17 华北理工大学 A kind of building outer layer translating hoist
CN108483363A (en) * 2018-05-12 2018-09-04 华北理工大学 A kind of building outer layer translating hoist rack
CN108483363B (en) * 2018-05-12 2023-07-18 华北理工大学 Outer translation lift frame of building
CN108408662B (en) * 2018-05-12 2023-10-31 江苏帜飞建设有限公司 Building outer layer translation lift
CN109228254A (en) * 2018-09-18 2019-01-18 云南唯佳塑业有限公司 A kind of full automatic plastic bottle processing method
CN109228254B (en) * 2018-09-18 2021-04-20 云南唯佳塑业有限公司 Full-automatic plastic bottle processing method
CN110918902A (en) * 2018-09-20 2020-03-27 黄山市黄山区金球耐磨材料有限公司 Novel wear-resisting steel ball easy demoulding automatic molding machine
CN112008704A (en) * 2019-05-31 2020-12-01 昆山怡德鑫精密机械有限公司 Product transmission mechanical arm
CN110978019A (en) * 2019-12-11 2020-04-10 安徽瞬达信息科技有限公司 Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot

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