CN208246813U - A kind of four joint Manipulators - Google Patents
A kind of four joint Manipulators Download PDFInfo
- Publication number
- CN208246813U CN208246813U CN201820530683.5U CN201820530683U CN208246813U CN 208246813 U CN208246813 U CN 208246813U CN 201820530683 U CN201820530683 U CN 201820530683U CN 208246813 U CN208246813 U CN 208246813U
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- CN
- China
- Prior art keywords
- axis
- wrist
- pull rod
- principal arm
- big
- Prior art date
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Abstract
The utility model discloses a kind of four joint Manipulators, including pedestal and the big wrist of S axis, the big wrist of S axis is mounted on the top of pedestal, the top of the big wrist of S axis is provided with pull rod fixing piece, the second girt is connected at the top of pull rod fixing piece, the right side of pull rod fixing piece is equipped with L axis principal arm, and the top of L axis principal arm is equipped with U-shaped forearm, one end of U-shaped forearm is equipped with triangle connection element, and the side of first level pull rod is equipped with the small wrist of T-type；Four joint Manipulator of one kind of the utility model, the motor installed at the top of the big wrist of S axis can drive the big wrist rotation of S axis, triangle connection element is connected to the second girt and first level pull rod, triangle connection element is mounted on the U-shaped forearm at the top of L axis principal arm, whole equipment feeding effect is precisely in place, automated handling, palletizing operation are realized, work quality is improved, meets client's automated production demand.
Description
Technical field
The utility model relates to industrial automation mechanical equipment technical field, specially a kind of four joint Manipulators.
Background technique
This manipulator of the prior art, when mechanical arm rotation, due to the linkage of structure, wrist also can
It itself rotates again in the process of moving, and to enable the grasping mechanism grabbing workpiece in wrist, mechanical arm drives wrist
After reaching crawl station, wrist generally requires to be rotated further by and grasping mechanism is made to go to suitable angle, in this case in wrist
On just need that a set of power device is additionally arranged.And for a few thing occasion, workpiece is moved to separately from a station by manipulator
One station, workpiece only translate between the two stations, and in this case, manipulator is in the two stations, grasping mechanism
Relative angle between workpiece be it is fixed, in this case, it is not accurate to will lead to feeding effect, influences working efficiency, it is difficult to
Meets the needs of automated production.
Utility model content
The purpose of this utility model is to provide a kind of four joint Manipulators, promotion as received basis accurate with feeding effect
Amount reduces the advantages of purchase cost meets client's automated production demand, solves the problems of the prior art.
To achieve the above object, the utility model provides the following technical solutions: a kind of four joint Manipulators, including pedestal and
The big wrist of S axis, the big wrist of S axis are mounted on the top of pedestal, and the big wrist of S axis is flexibly connected pedestal, the top of the big wrist of S axis
It is provided with pull rod fixing piece, the second girt is connected at the top of the pull rod fixing piece, the right side of pull rod fixing piece is equipped with L
Limited position mechanism is installed in axis principal arm, the two sides of L axis principal arm, and the top of L axis principal arm is equipped with U-shaped forearm, one end peace of U-shaped forearm
Equipped with triangle connection element, the triangle connection element is flexibly connected the top of the second girt, the side activity of triangle connection element
It is connected with first level pull rod, the side of the first level pull rod is equipped with the small wrist of T-type, and the small wrist of T-type passes through tripod
It is flexibly connected crossbearer, one end of crossbearer is flexibly connected U-shaped forearm.U-shaped forearm is mounted on the top of L axis principal arm, the bottom of L axis principal arm
End is flexibly connected with the big wrist of S axis.
Preferably, limited position mechanism is installed in the outside of the L axis principal arm.
Preferably, the pedestal is equipped with motor.
Preferably, the maximum activity radius of the L axis principal arm and U-shaped forearm be 1363mm, can 360 degree rotate freely.
Preferably, control arm is mounted on the outside of the U-shaped forearm and the small wrist of T-type.
Compared with prior art, the beneficial effects of the utility model are as follows:
Four joint Manipulator of one kind of the utility model, the motor that the big wrist top of S axis is installed can drive the big wrist of S axis to turn
Dynamic, triangle connection element is connected to the second girt and first level pull rod, and triangle connection element is mounted on the U at the top of L axis principal arm
On type forearm, whole equipment feeding effect precisely in place, realizes automated handling, palletizing operation, improves work quality, full
Sufficient client's automated production demand.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the overall structure schematic side view of the utility model；
Fig. 3 is the overall structure schematic rear view of the utility model.
In figure: 1 pedestal, the big wrist of 2S axis, 3L axis principal arm, 4U axis forearm, the small wrist of 5T axis, 6 first level pull rods, 7
Two girts, 8 pull rod fixing pieces, 9 triangle connection elements, 10 position-limit mechanisms, 11 crossbearers.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
It please refers to Fig. 1-3, a kind of four joint Manipulators, including pedestal 1 and the big wrist 2 of S axis, the big wrist 2 of S axis and is mounted on bottom
The top of seat 1, bottom 1 are equipped with motor, and the big wrist 2 of S axis is flexibly connected pedestal 1, and the top of the big wrist 2 of S axis is provided with pull rod
Fixing piece 8, the top of pull rod fixing piece 8 are connected with the second girt 7, and the right side of pull rod fixing piece 8 is equipped with L axis principal arm 3, L
Limited position mechanism 10 is installed in the two sides of axis principal arm 3, and the top of L axis principal arm 3 is equipped with U-shaped forearm 4, L axis principal arm 3 and U-shaped forearm 4
Maximum activity radius be 1363mm, can be rotated freely with positive and negative 360 degree, one end of U-shaped forearm 4 is equipped with triangle connection element 9,
Triangle connection element 9 is flexibly connected the top of the second girt 7, and the side of triangle connection element 9 is connected with first level drawing
Bar 6, the side of first level pull rod 6 are equipped with the small wrist 5 of T-type, and the outside of U-shaped forearm 4 and the small wrist 5 of T-type is mounted on control
Arm processed.The small wrist 5 of T-type is flexibly connected crossbearer 11 by tripod, and one end of crossbearer 11 is flexibly connected U-shaped forearm 4.U-shaped forearm 4
It is mounted on the top of L axis principal arm 3, the bottom end of L axis principal arm 3 is flexibly connected with the big wrist 2 of S axis.
In summary: four joint Manipulators of the utility model, the motor installed at the top of the big wrist 2 of S axis can drive S axis big
Wrist 2 rotates, and triangle connection element 9 is connected to the second girt 7 and first level pull rod 6, and triangle connection element 9 is mounted on L axis
On the U-shaped forearm 4 at 3 top of principal arm, whole equipment feeding effect precisely in place, realizes automated handling, palletizing operation, is promoted
Work quality, meets client's automated production demand.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired
Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of four joint Manipulators, including pedestal (1) and the big wrist of S axis (2), it is characterised in that: the big wrist of S axis (2)
It is mounted on the top of pedestal (1), the big wrist of S axis (2) is flexibly connected pedestal (1), and the top of the big wrist of S axis (2) is provided with pull rod
Fixing piece (8) is connected with the second girt (7) at the top of the pull rod fixing piece (8), and pull rod fixing piece is set on the right side of (8)
There is L axis principal arm (3), the top of L axis principal arm (3) is equipped with U-shaped forearm (4), and one end of U-shaped forearm (4) is equipped with triangle joint
Part (9), the triangle connection element (9) are flexibly connected the top of the second girt (7), one end activity of triangle connection element (9)
It is connected with first level pull rod (6), one end of the first level pull rod (6) is equipped with the small wrist of T-type (5), the small wrist of T-type
(5) crossbearer (11) are flexibly connected by tripod, one end of the crossbearer (11) is flexibly connected U-shaped forearm (4), U-shaped forearm (4)
It is mounted on the top of L axis principal arm (3), the bottom end of L axis principal arm (3) is flexibly connected with the big wrist of S axis (2).
2. a kind of four joint Manipulator according to claim 1, it is characterised in that: install in the outside of the L axis principal arm (3)
Limited position mechanism (10).
3. a kind of four joint Manipulator according to claim 1, it is characterised in that: pacify the top of the big wrist of S axis (2)
Equipped with motor.
4. a kind of four joint Manipulator according to claim 1, it is characterised in that: the L axis principal arm (3) and U-shaped forearm
(4) maximum activity radius be 1363mm, can 360 degree rotate freely.
5. a kind of four joint Manipulator according to claim 1, it is characterised in that: the U-shaped forearm (4) and the small hand of T-type
Wrist is mounted on control arm on the outside of (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820530683.5U CN208246813U (en) | 2018-04-13 | 2018-04-13 | A kind of four joint Manipulators |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820530683.5U CN208246813U (en) | 2018-04-13 | 2018-04-13 | A kind of four joint Manipulators |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208246813U true CN208246813U (en) | 2018-12-18 |
Family
ID=64636330
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820530683.5U Expired - Fee Related CN208246813U (en) | 2018-04-13 | 2018-04-13 | A kind of four joint Manipulators |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208246813U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247621A (en) * | 2018-04-13 | 2018-07-06 | 广东途达智能科技有限公司 | A kind of four joint Manipulators |
-
2018
- 2018-04-13 CN CN201820530683.5U patent/CN208246813U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247621A (en) * | 2018-04-13 | 2018-07-06 | 广东途达智能科技有限公司 | A kind of four joint Manipulators |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181218 Termination date: 20200413 |