CN208246813U - A four-joint manipulator - Google Patents

Abstract

The utility model discloses a four-joint manipulator, including the big wrist of base and S axle, the top at the base is installed to the big wrist of S axle, and the top of the big wrist of S axle is provided with the pull rod mounting, and the top of pull rod mounting is connected with second horizontal pull rod, and the right side of pull rod mounting is equipped with L main arms, and U type forearm is installed on the top of L main arms, and the triangle-shaped connecting piece is installed to the one end of U type forearm, and the little wrist of T type is installed to one side of first horizontal pull rod, the utility model discloses a four-joint manipulator, the big wrist of S axle top installation can drive the big wrist of S axle and rotate, and second horizontal pull rod and first horizontal pull rod are being connected to the triangle-shaped connecting piece, and the triangle-shaped connecting piece is installed on the U type forearm at L main arm top, and whole equipment gets the material effect accurate target in place, has realized automated handling, operation pile up neatly.

Description

A four-joint manipulator

technical field

The utility model relates to the technical field of industrial automation machinery equipment, in particular to a four-joint manipulator.

Background technique

This kind of manipulator in the prior art, when the mechanical arm rotates, due to the linkage of the structure, the wrist itself will rotate again during the moving process, and the grasping mechanism on the wrist can grasp the workpiece. After the arm drives the wrist to reach the grasping station, the wrist often needs to be rotated again to make the grasping mechanism turn to a suitable angle. In this case, an additional power device needs to be equipped on the wrist. For some workplaces, the workpiece is moved from one station to another by the manipulator, and the workpiece is only translated between the two stations. The relative angle between them is fixed. In this case, the retrieving effect will be inaccurate, affecting work efficiency, and it is difficult to meet the needs of automated production.

Utility model content

The purpose of the utility model is to provide a four-joint manipulator, which has the advantages of accurate material retrieving effect, improved work quality, reduced purchase cost to meet the needs of customers for automated production, and solves the problems in the prior art.

In order to achieve the above purpose, the utility model provides the following technical solutions: a four-joint manipulator, including a base and an S-axis large wrist, the S-axis large wrist is installed above the base, the S-axis large wrist is movably connected to the base, and the S-axis large wrist The top of the wrist is provided with a tie rod fixing part, the top of the tie rod fixing part is connected with a second horizontal pull rod, the right side of the tie rod fixing part is provided with an L-axis main arm, and the two sides of the L-axis main arm are equipped with a limit mechanism, and the L-axis The top of the main arm is equipped with a U-shaped forearm, and one end of the U-shaped forearm is equipped with a triangular connector, the triangular connector is movably connected to the top of the second horizontal tie rod, and one side of the triangular connector is movably connected to the first horizontal tie rod , a T-shaped small wrist is installed on one side of the first horizontal tie rod, the T-shaped small wrist is movably connected to the horizontal frame through a tripod, and one end of the horizontal frame is movably connected to the U-shaped forearm. The U-shaped forearm is installed on the top of the L-axis main arm, and the bottom end of the L-axis main arm is movably connected with the S-axis big wrist.

Preferably, a limit mechanism is installed on the outer side of the L-axis main arm.

Preferably, the base is equipped with a motor.

Preferably, the L-axis main arm and the U-shaped arm have a maximum movable radius of 1363 mm, and can freely rotate 360 degrees.

Preferably, control arms are installed on the outer sides of the U-shaped forearm and the T-shaped small wrist.

Compared with the prior art, the beneficial effects of the utility model are as follows:

A four-joint manipulator of the utility model, the motor installed on the top of the S-axis large wrist can drive the S-axis large wrist to rotate, the triangular connector is connected with the second horizontal pull rod and the first horizontal pull rod, and the triangular connector is installed on the L-axis main arm On the U-shaped forearm at the top, the entire equipment takes materials accurately and in place, realizes automatic handling and palletizing operations, improves the work quality, and meets the needs of customers for automated production.

Description of drawings

Fig. 1 is the overall structural representation of the utility model;

Fig. 2 is a schematic side view of the overall structure of the utility model;

Fig. 3 is a schematic rear view of the overall structure of the utility model.

In the figure: 1 Base, 2S-axis large wrist, 3L-axis main arm, 4U-axis forearm, 5T-axis small wrist, 6 first horizontal tie rod, 7 second horizontal tie rod, 8 tie rod fixing piece, 9 triangular connection piece, 10 limit mechanism, 11 horizontal frames.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

Please refer to Figure 1-3, a four-joint manipulator, including a base 1 and an S-axis large wrist 2, the S-axis large wrist 2 is installed above the base 1, the bottom 1 is equipped with a motor, and the S-axis large wrist 2 is movably connected to the base 1 , the top of the S-axis big wrist 2 is provided with a tie rod fixing part 8, the top of the tie rod fixing part 8 is connected with a second horizontal tie rod 7, the right side of the tie rod fixing part 8 is provided with an L-axis main arm 3, and the L-axis main arm 3 The limit mechanism 10 is installed on both sides, and the U-shaped arm 4 is installed on the top of the L-axis main arm 3. The maximum movable radius of the L-axis main arm 3 and the U-shaped arm 4 is 1363mm, and can rotate freely in plus or minus 360 degrees. One end of the type forearm 4 is equipped with a triangular connecting piece 9, which is movably connected to the top of the second horizontal tie rod 7, and one side of the triangular connecting piece 9 is movably connected to the first horizontal tie rod 6, and one side of the first horizontal tie rod 6 Side is equipped with T-shaped small wrist 5, and the outside of U-shaped forearm 4 and T-shaped small wrist 5 is all equipped with control arm. The T-shaped small wrist 5 is movably connected to the horizontal frame 11 through the tripod, and one end of the horizontal frame 11 is movably connected to the U-shaped forearm 4 . The U-shaped forearm 4 is installed on the top of the L-axis main arm 3, and the bottom end of the L-axis main arm 3 is movably connected with the S-axis big wrist 2.

To sum up: in the four-joint manipulator of the present utility model, the motor installed on the top of the S-axis large wrist 2 can drive the S-axis large wrist 2 to rotate, and the triangle connector 9 is connected to the second horizontal pull rod 7 and the first horizontal pull rod 6, and the triangle The connecting piece 9 is installed on the U-shaped forearm 4 on the top of the L-axis main arm 3. The entire equipment takes materials accurately, realizes automatic handling and palletizing operations, improves the quality of work, and meets the needs of customers for automated production.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes and modifications can be made to these embodiments without departing from the principle and spirit of the present invention , replacements and modifications, the scope of the present utility model is defined by the appended claims and their equivalents.

Claims (5)

1. A four-joint manipulator, comprising a base (1) and an S-axis large wrist (2), is characterized in that: the S-axis large wrist (2) is installed above the base (1), and the S-axis large wrist (2) ) is movably connected to the base (1), the top of the S-axis big wrist (2) is provided with a pull rod fixture (8), and the top of the pull rod fixture (8) is connected with a second horizontal pull rod (7), and the pull rod fixture ( 8) is provided with an L-axis main arm (3) on the right side, a U-shaped arm (4) is installed on the top of the L-axis main arm (3), and a triangular connector (9) is installed at one end of the U-shaped arm (4). ), the top of the triangular link (9) is movably connected to the second horizontal tie rod (7), and one end of the triangular link (9) is movably connected to the first horizontal tie bar (6), and the first horizontal tie bar (6) One end of the T-shaped small wrist (5) is installed, and the T-shaped small wrist (5) is movably connected to the horizontal frame (11) through the tripod, and one end of the horizontal frame (11) is movably connected to the U-shaped forearm (4), and the U-shaped The small arm (4) is installed on the top of the L-axis main arm (3), and the bottom end of the L-axis main arm (3) is movably connected with the S-axis big wrist (2). 2. A four-joint manipulator according to claim 1, characterized in that: a limiting mechanism (10) is installed outside the L-axis main arm (3). 3. A four-joint manipulator according to claim 1, characterized in that: a motor is installed above the S-axis big wrist (2). 4. A four-joint manipulator according to claim 1, characterized in that: the L-axis main arm (3) and the U-shaped arm (4) have a maximum movable radius of 1363 mm and can freely rotate 360 degrees. 5. A four-joint manipulator according to claim 1, characterized in that: control arms are installed on the outer sides of the U-shaped small arm (4) and the T-shaped small wrist (5).