CN207373169U - A kind of four axis robot devices suitable for high temperature with high dust environment - Google Patents

Abstract

The utility model relates to a four-axis manipulator device suitable for high-temperature and high-dust environments, which comprises a base, a revolving seat, a large arm, a small arm and a manipulator arranged sequentially from bottom to top; The first motor is driven to rotate, the bottom of the boom is connected to the swivel base and driven to rotate by the second motor set on the swivel base, the bottom of the small arm is connected to the top of the boom and driven to rotate by the third motor set on the swivel base, the manipulator It is connected with the top of the forearm and driven to rotate by the fourth motor arranged on the boom. The four-axis manipulator device adopts chain transmission, which has good tolerance to the working environment of high temperature and high dust, and is easy to maintain, ensuring the reliability of the manipulator for long-term work. And it has four degrees of freedom, flexible movement, long arm span, and large operating radius. The action posture can be adjusted according to production needs, which is conducive to reducing production costs, reducing defective rate, and improving product quality.

Description

A four-axis manipulator device suitable for high temperature and high dust environment

technical field

The utility model relates to a four-axis manipulator device suitable for a high-temperature and high-dust environment, in particular to a manipulator for a special high-temperature and high-dust environment in a glassware processing production line, and belongs to the technical field of manipulators.

Background technique

There are usually two methods for the glassware production line to pick up and place the demolded glassware on the conveyor belt for the next step of the process, one is manual handling with clamps, and the other is automatic handling by manipulators . Due to the harsh working environment, high labor intensity, low manual operation efficiency, and high labor costs, manual operation is only suitable for small batch production in small processing workshops, not for large-scale flow operations in enterprises.

Use manipulators to pick up and place operations, such as a utility model patent with the authorized announcement number CN202781155U, which discloses a high-efficiency and safe manipulator device for conveying glassware, and a utility model patent with the announcement number CN103395063A, which is suitable for glassware. The flip-type automatic manipulator of the container pressing production line. The above schemes all have certain deficiencies. For example, the former is affected by the characteristics of the cylinder itself, the action impact is large, and the displacement speed is uncontrollable, which directly affects the reliability of picking up, and it has certain safety hazards; Otherwise, the container will be thrown out, which directly affects the work efficiency of the manipulator; the two manipulators have less freedom, poor flexibility, and the small radius of activity limits the layout of the assembly line.

Utility model content

Aiming at the deficiencies of the prior art, the utility model provides a four-axis manipulator device suitable for high-temperature and high-dust environments.

The technical scheme of the utility model is as follows:

A four-axis manipulator device suitable for high-temperature and high-dust environments, including a base, a revolving base, a large arm, a small arm and a manipulator arranged sequentially from bottom to top; the revolving base is located on the base and driven by a first motor installed on the base Rotation, the bottom of the boom is connected to the swivel base and driven to rotate by the second motor set on the swivel base, the bottom of the small arm is connected to the top of the boom and driven to rotate by the third motor set on the swivel base, the manipulator and the top of the small arm It is connected and driven to rotate by the fourth motor arranged on the boom.

Preferably, the base is a cylinder, and the first motor is installed in the cylinder and connected to the bottom of the revolving base through a first reducer.

Preferably, two vertical plates are oppositely arranged on the upper surface of the slewing seat, the bottom of the boom is located between the two vertical plates, and the second motor is installed on one side of the vertical plate and connected to the bottom of the boom through a second reducer.

Preferably, the third motor is installed on the other side of the vertical plate and is connected to the first sprocket arranged in the boom through the third reducer, the second sprocket is arranged in the small arm and the second chain The wheel is fixedly connected with the bottom of the small arm, and the first sprocket is connected with the second sprocket through a chain drive.

Preferably, the center of the first sprocket is provided with a first sprocket shaft extending outward, one end of the first sprocket shaft passes through the bottom of the boom and is connected to the third reducer, and the other end is connected to the bottom of the boom through a bearing.

Preferably, the center of the second sprocket is provided with a second sprocket shaft extending outwards, the second sprocket shaft passes through the bottom of the forearm, and the two ends are connected to the top of the boom, and the second sprocket shaft is fixedly connected to the bottom of the forearm .

Preferably, the fourth motor is installed on the boom, and the fourth motor is connected to the third sprocket arranged in the boom through the fourth reducer, and the bottom and top of the small arm are respectively provided with a fourth sprocket and a second sprocket. Five sprockets, the fourth sprocket is set on the second sprocket shaft; the center of the fifth sprocket is provided with a third sprocket shaft extending outwards, the two ends of the third sprocket shaft are respectively connected to the top of the forearm and the third chain Wheel axle is also fixedly connected with manipulator, between the 3rd sprocket wheel and the 4th sprocket wheel, between the 4th sprocket wheel and the 5th sprocket wheel respectively through the chain transmission.

Preferably, both ends of the second sprocket shaft are connected to the top of the boom through bearings, and the fourth sprocket is mounted on the second sprocket shaft through bearings.

Preferably, the first sprocket, the second sprocket, the third sprocket, and the fifth sprocket are all single-row sprockets, and the fourth sprocket is a double-row sprocket.

Preferably, both ends of the third sprocket shaft are connected to the top of the small arm through bearings.

The beneficial effects of the utility model are:

1. The motors of this four-axis manipulator device are installed centrally on the base, slewing base, and the lower part of the boom, which reduces the center of gravity of the manipulator, reduces the weight of the manipulator's execution end, reduces the load on the drive motor, and reduces waste work consumption.

2. The four-axis manipulator device adopts chain transmission, which has good tolerance to the working environment of high temperature and high dust, and is easy to maintain, ensuring the reliability of the manipulator for long-term work.

3. This four-axis manipulator device has four degrees of freedom, flexible movement, long arm span, and large operating radius. It can adjust the action posture according to production needs, which is conducive to reducing production costs, reducing defective rate, improving product quality, and improving production. efficiency and reduce the labor intensity of workers.

4. The four-axis manipulator device of the utility model has the advantages of simple structure, reliable operation, fast operation speed and good maintainability, and can be used to pick and place glassware in a special environment with high temperature and high dust. In addition, the utility model is not limited to the production of glassware , It can also be used in other high-temperature and high-dust production environments to pick and place target objects, and has a wide range of applications.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the utility model four-axis manipulator device;

Fig. 2 is a schematic diagram of the internal structure of the utility model four-axis manipulator device;

Among them: 1. Base; 2. Swivel seat; 3. Big arm; 4. Forearm; 5. Manipulator; 6. First motor; 7. Second motor; 8. Third motor; 9. Fourth motor; 10 , the first reducer; 11, the second reducer; 12, the third reducer; 13, the fourth reducer; 14, the first sprocket; 15, the chain; 16, the second sprocket; 17, the third chain Wheel; 18, chain; 19, the fourth sprocket; 20, chain; 21, the fifth sprocket; 22, vertical plate.

Detailed ways

The utility model will be further described below through the embodiments in conjunction with the accompanying drawings, but not limited thereto.

Example 1:

As shown in Figures 1 and 2, this embodiment provides a four-axis manipulator device suitable for high-temperature and high-dust environments, including a base 1, a swivel base 2, a large arm 3, a small arm 4 and a manipulator arranged in sequence from bottom to top 5. The swivel base 2 is located on the base 1 and driven to rotate by the first motor 6 arranged on the base 1. The bottom of the boom 3 is connected to the swivel base 2 and driven to rotate by the second motor 7 arranged on the swivel base 2. The bottom of the arm 4 is connected to the top of the boom 3 and driven to rotate by the third motor 8 arranged on the swivel base 2 , and the manipulator 5 is connected to the top of the forearm 4 and driven to rotate by the fourth motor 9 arranged on the boom 3 .

Wherein, the base 1 is a cylinder, the first motor 6 is installed in the inner cavity of the cylinder and connected with the first reducer 10 , the output shaft of the first reducer 10 is directly connected with the bottom of the revolving seat 2 through transmission. The power output by the first motor 6 drives the revolving base 2 to rotate after being decelerated by the first reducer 10, so as to realize the waist action of the four-axis manipulator of the present invention.

The shape of the revolving base 2 is a cylinder, and two vertical plates 22 are installed on the upper surface of the revolving base 2. The bottom of the boom 3 is located between the two vertical plates 22. The second motor 7 is installed on one side of the vertical plate and passes through The second speed reducer 11 is connected to the bottom of the boom 3, the output shaft of the second speed reducer 11 is directly connected rigidly to the outside of the bottom of the boom, and the second motor 7 directly drives the boom 3 to rotate through the second speed reducer 11.

The third motor 8 is installed on the other side of the vertical plate and the drive shaft of the third motor 8 passes through the vertical plate, and the boom enters the inside of the boom to be connected with the third speed reducer 12 arranged inside the boom. The third speed reducer 12 It is connected with the first sprocket wheel 14 arranged in the boom through the transmission of the first sprocket shaft, the first sprocket wheel 14 and the first sprocket shaft are integrally structured, and the other end of the first sprocket shaft is connected with the bottom of the big arm 3 through a bearing ( The bottom of the big arm is provided with a bearing seat for installing the bearing); the small arm 4 is provided with a second sprocket 16 and the second sprocket 16 is fixedly connected with the bottom of the small arm 4, and the first sprocket 14 and the second sprocket 16 pass through Chain 15 drive connections.

The center of the second sprocket wheel 16 is provided with a second sprocket wheel shaft extending outwards, and the second sprocket shaft runs through the bottom of the arm 4 and is connected with the top of the boom by bearings (the top of the boom is provided with a corresponding bearing seat). The second sprocket shaft is fixedly connected to the bottom of the small arm 4, and the second sprocket shaft can drive the small arm 4 to rotate when it rotates, so that the third motor 8 can pass through the third reducer 12, the first sprocket 14, and the chain 15. , The second sprocket 16 drives the small arm 4 to rotate.

The fourth motor 9 is installed on the boom 3, and as shown in FIG. 1, is located outside the boom. The fourth motor 9 is in drive connection with the third sprocket 17 arranged in the boom 3 through the fourth reducer 13, the bottom and top of the small arm 4 are respectively provided with the fourth sprocket 19 and the fifth sprocket 21, the fourth chain Wheel 19 is installed on the second sprocket shaft through bearings (the second sprocket shaft will not drive the fourth sprocket 19 to rotate); the center of the fifth sprocket 21 is provided with the third sprocket shaft extending outwards, and the third chain The two ends of the axle are respectively connected with the top of the forearm 4 through bearings (the top of the forearm is provided with a corresponding bearing seat) and the third sprocket shaft is also fixedly connected with the manipulator 5, between the third sprocket 17 and the fourth sprocket 19, The fourth sprocket 19 and the fifth sprocket 21 are driven by chains 18 and 20 respectively.

The working principle of the four-axis manipulator device in this embodiment:

When the manipulator device is working, the manipulator grips and closes the glassware driven by the air source, adjusts the posture of the manipulator by controlling the rotation of each driving motor, moves the glassware to the designated position, releases the gripper by controlling the air source, and puts it down. glassware.

Example 2:

A working method of a four-axis manipulator device suitable for high-temperature and high-dust environments described in Embodiment 1, the specific working process is as follows:

During operation, by starting the first motor 6, the first motor 6 runs through the first reducer 10 to drive the revolving seat 2 to rotate on the base 1, which can realize the 360-degree rotation of the entire manipulator device; by starting the second motor 7, the second The motor 7 runs through the second reducer 11 to drive the boom to rotate around the first sprocket shaft; by starting the third motor 8, the third motor 8 runs through the third reducer 12 to drive the first sprocket shaft to rotate, and the first sprocket shaft is driven by the chain Drive the second sprocket shaft to rotate, while the second sprocket shaft rotates and drive the small arm 4 to rotate around the second sprocket shaft; by starting the fourth motor 9, the fourth motor 9 runs through the fourth reducer 13 to drive the third sprocket 17 to rotate , the third sprocket 17 drives the fourth sprocket 19 to rotate by means of the chain 18, the fourth sprocket 19 drives the fifth sprocket 21 and the third sprocket shaft to rotate by the chain 20, and drives the manipulator 5 to rotate while the third sprocket shaft rotates.

Manipulator 5 is an existing product, and is clamped and closed under the drive of an air source. The first sprocket 14, the second sprocket 16, the third sprocket 17, and the fifth sprocket 21 are all single-row sprockets, and the fourth sprocket 19 is a double-row sprocket. 17, and is connected with the fifth sprocket 21 through the chain 20 to realize the power transmission of the fourth motor 9.

Claims (10)

1. A four-axis manipulator device suitable for high-temperature and high-dust environments, characterized in that it includes a base, a revolving seat, a large arm, a small arm and a manipulator arranged sequentially from bottom to top; the revolving seat is located on the base and is arranged on the base The first motor on the top is driven to rotate, the bottom of the boom is connected to the swivel base and driven to rotate by the second motor set on the swivel base, the bottom of the small arm is connected to the top of the boom and driven to rotate by the third motor set on the swivel base , the manipulator is connected to the top of the forearm and driven to rotate by the fourth motor arranged on the big arm. 2. The four-axis manipulator device suitable for high-temperature and high-dust environments according to claim 1, wherein the base is a cylinder, the first motor is installed in the cylinder and passes through the first reducer and the bottom of the slewing seat Drive connection. 3. The four-axis manipulator device suitable for high-temperature and high-dust environments as claimed in claim 1, wherein two vertical plates are oppositely arranged on the upper surface of the revolving seat, and the bottom of the boom is located between the two vertical plates. The second motor is installed on one side of the vertical plate and is connected with the bottom of the boom through the second reducer. 4. The four-axis manipulator device suitable for high-temperature and high-dust environments according to claim 1, wherein the third motor is installed on the other side of the vertical plate and is connected with the motor installed in the boom through the third reducer. The first sprocket is in transmission connection, the second sprocket is arranged in the small arm and is fixedly connected with the bottom of the small arm, and the first sprocket and the second sprocket are connected through a chain transmission. 5. The four-axis manipulator device suitable for high-temperature and high-dust environments as claimed in claim 4, wherein the center of the first sprocket is provided with a first sprocket shaft extending outward, and one end of the first sprocket shaft runs through The bottom of the boom is connected with the third reducer, and the other end is connected with the bottom of the boom through a bearing. 6. The four-axis manipulator device suitable for high-temperature and high-dust environments as claimed in claim 4, wherein a second sprocket shaft extending outward is provided at the center of the second sprocket, and the second sprocket shaft runs through the small The rear two ends of the bottom of the arm are connected with the top of the boom, and the second sprocket shaft is fixedly connected with the bottom of the small arm. 7. The four-axis manipulator device suitable for high-temperature and high-dust environments as claimed in claim 6, wherein the fourth motor is installed on the boom, and the fourth motor is arranged in the boom through the fourth reducer The third sprocket drive connection, the bottom and top of the arm are respectively provided with the fourth sprocket and the fifth sprocket, the fourth sprocket is arranged on the second sprocket shaft; the center of the fifth sprocket is provided with an outwardly extending sprocket The third sprocket shaft, the two ends of the third sprocket shaft are respectively connected to the top of the forearm and the third sprocket shaft is also fixedly connected to the manipulator, between the third sprocket and the fourth sprocket, the fourth sprocket and the fifth sprocket They are respectively driven by chains. 8. The four-axis manipulator device suitable for high-temperature and high-dust environments as claimed in claim 7, wherein the two ends of the second sprocket shaft are connected to the top of the boom through bearings, and the fourth sprocket is installed on the top of the boom through bearings. on the second sprocket shaft. 9. The four-axis manipulator device suitable for high-temperature and high-dust environments according to claim 7, wherein the first sprocket, the second sprocket, the third sprocket, and the fifth sprocket are all single-row sprocket, the fourth sprocket is a double sprocket. 10. The four-axis manipulator device suitable for high-temperature and high-dust environments according to claim 7, wherein the two ends of the third sprocket shaft are connected to the top of the forearm through bearings.